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Browse files- .gitattributes +1 -0
- checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/pretrained_model/config.json +92 -0
- checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/pretrained_model/model.safetensors +3 -0
- checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/pretrained_model/policy_postprocessor.json +32 -0
- checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/pretrained_model/policy_preprocessor.json +56 -0
- checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
- checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/pretrained_model/train_config.json +302 -0
- checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/training_state/optimizer_param_groups.json +397 -0
- checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/training_state/optimizer_state.safetensors +3 -0
- checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/training_state/rng_state.safetensors +3 -0
- checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/training_state/scheduler_state.json +15 -0
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- checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/wandb/debug.log +0 -0
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- checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/wandb/run-20260519_041222-1tlldy3e/files/output.log +0 -0
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- checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/wandb/run-20260519_041222-1tlldy3e/logs/debug.log +0 -0
- checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/wandb/run-20260519_041222-1tlldy3e/run-1tlldy3e.wandb +3 -0
.gitattributes
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@@ -39,3 +39,4 @@ checkpoints/diffusion_dagger_iter1_20260517_225259/wandb/run-20260517_225306-kmy
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checkpoints/diffusion_specialized_new_dataset_580/wandb/run-20260519_011148-d8akc176/run-d8akc176.wandb filter=lfs diff=lfs merge=lfs -text
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checkpoints/diffusion_580_new_dataset_dino/wandb/run-20260518_160350-26q4u034/run-26q4u034.wandb filter=lfs diff=lfs merge=lfs -text
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checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/pretrained_model/config.json
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checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/pretrained_model/model.safetensors
ADDED
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checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/pretrained_model/policy_postprocessor.json
ADDED
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checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
ADDED
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checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/pretrained_model/policy_preprocessor.json
ADDED
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checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
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checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/pretrained_model/train_config.json
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|
checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,397 @@
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| 1 |
+
[
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| 2 |
+
{
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| 3 |
+
"lr": 8.54594455744191e-05,
|
| 4 |
+
"betas": [
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| 5 |
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0.95,
|
| 6 |
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0.999
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| 7 |
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],
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| 8 |
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| 9 |
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"weight_decay": 1e-06,
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| 10 |
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"amsgrad": false,
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| 11 |
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"maximize": false,
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| 12 |
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"foreach": null,
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| 13 |
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"capturable": false,
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| 14 |
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"differentiable": false,
|
| 15 |
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"fused": null,
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| 16 |
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"decoupled_weight_decay": false,
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| 17 |
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"initial_lr": 0.0001,
|
| 18 |
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| 19 |
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checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/checkpoints/100000/training_state/training_step.json
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| 1 |
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|
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value:
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e:
|
| 5 |
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j6iwlet041pcpuatmtz991fj7wsfoejc:
|
| 6 |
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args:
|
| 7 |
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- --dataset.repo_id=local/act_collected_episodes
|
| 8 |
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- --dataset.root=/home/rguntz/Desktop/robot_learning/aggregated_new_dataset_781
|
| 9 |
+
- --dataset.video_backend=pyav
|
| 10 |
+
- --policy.type=diffusion
|
| 11 |
+
- --policy.device=cuda
|
| 12 |
+
- --policy.push_to_hub=false
|
| 13 |
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- --policy.n_obs_steps=2
|
| 14 |
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- --policy.horizon=16
|
| 15 |
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- --policy.n_action_steps=8
|
| 16 |
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- --policy.vision_backbone_type=dinov2
|
| 17 |
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- --policy.vision_backbone=resnet18
|
| 18 |
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- --policy.freeze_vision_encoder=true
|
| 19 |
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- --policy.noise_scheduler_type=DDPM
|
| 20 |
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- --policy.num_train_timesteps=100
|
| 21 |
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- --policy.num_inference_steps=100
|
| 22 |
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- --policy.optimizer_lr=1e-4
|
| 23 |
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- --policy.scheduler_warmup_steps=500
|
| 24 |
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- --output_dir=/home/rguntz/Desktop/robot_learning/outputs/train/diffusion_v2_dinov2_cls_mean_20260519_041213
|
| 25 |
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- --job_name=diffusion_v2_dinov2_cls_mean_20260519_041213
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| 26 |
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- --batch_size=64
|
| 27 |
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- --steps=400000
|
| 28 |
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- --num_workers=32
|
| 29 |
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- --log_freq=20
|
| 30 |
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- --save_freq=100000
|
| 31 |
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- --eval_freq=0
|
| 32 |
+
- --wandb.enable=True
|
| 33 |
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- --policy.vision_encoder_name=facebook/dinov2-with-registers-small
|
| 34 |
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- --policy.resize_shape=[224,224]
|
| 35 |
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- --policy.vit_pool_type=cls_mean
|
| 36 |
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- --policy.vit_feature_dim=512
|
| 37 |
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codePath: .venv/bin/lerobot-train
|
| 38 |
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codePathLocal: .venv/bin/lerobot-train
|
| 39 |
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cpu_count: 8
|
| 40 |
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cpu_count_logical: 16
|
| 41 |
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cudaVersion: "13.0"
|
| 42 |
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disk:
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| 43 |
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/:
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| 44 |
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total: "1005867986944"
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| 45 |
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used: "948539609088"
|
| 46 |
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executable: /home/rguntz/Desktop/robot_learning/lerobot/.venv/bin/python3
|
| 47 |
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git:
|
| 48 |
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commit: 8d23fd47055bfd22999a0aa8504b2db2a224760e
|
| 49 |
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remote: git@github.com:michavol/lerobot.git
|
| 50 |
+
gpu: NVIDIA GeForce RTX 3090
|
| 51 |
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gpu_count: 1
|
| 52 |
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gpu_nvidia:
|
| 53 |
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- architecture: Ampere
|
| 54 |
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cudaCores: 10496
|
| 55 |
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memoryTotal: "25769803776"
|
| 56 |
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name: NVIDIA GeForce RTX 3090
|
| 57 |
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uuid: GPU-66af8aaf-7e6a-3e72-b858-c225c6345f85
|
| 58 |
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host: franka3-SRL-DSK-102
|
| 59 |
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memory:
|
| 60 |
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total: "67196911616"
|
| 61 |
+
os: Linux-6.17.0-23-generic-x86_64-with-glibc2.39
|
| 62 |
+
program: /home/rguntz/Desktop/robot_learning/lerobot/.venv/bin/lerobot-train
|
| 63 |
+
python: CPython 3.12.13
|
| 64 |
+
root: /home/rguntz/Desktop/robot_learning/outputs/train/diffusion_v2_dinov2_cls_mean_20260519_041213
|
| 65 |
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startedAt: "2026-05-19T02:12:22.394877Z"
|
| 66 |
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writerId: j6iwlet041pcpuatmtz991fj7wsfoejc
|
| 67 |
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m: []
|
| 68 |
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python_version: 3.12.13
|
| 69 |
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|
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|
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|
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|
| 104 |
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cudnn_deterministic:
|
| 105 |
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|
| 106 |
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dataset:
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episodes: null
|
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image_transforms:
|
| 110 |
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|
| 111 |
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max_num_transforms: 3
|
| 112 |
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random_order: false
|
| 113 |
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same_cloth_color: false
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tfs:
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affine:
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weight: 0
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| 126 |
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| 171 |
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| 196 |
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| 198 |
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|
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| 210 |
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|
| 211 |
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| 212 |
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|
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repo_id: local/act_collected_episodes
|
| 214 |
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return_uint8: false
|
| 215 |
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revision: null
|
| 216 |
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root: /home/rguntz/Desktop/robot_learning/aggregated_new_dataset_781
|
| 217 |
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streaming: false
|
| 218 |
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use_imagenet_stats: true
|
| 219 |
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video_backend: pyav
|
| 220 |
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env:
|
| 221 |
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value: null
|
| 222 |
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eval:
|
| 223 |
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value:
|
| 224 |
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batch_size: 11
|
| 225 |
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n_episodes: 50
|
| 226 |
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use_async_envs: true
|
| 227 |
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eval_freq:
|
| 228 |
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value: 0
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| 229 |
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job_name:
|
| 230 |
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value: diffusion_v2_dinov2_cls_mean_20260519_041213
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| 231 |
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log_freq:
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| 232 |
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value: 20
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| 233 |
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num_workers:
|
| 234 |
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value: 32
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| 235 |
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optimizer:
|
| 236 |
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value:
|
| 237 |
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betas:
|
| 238 |
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- 0.95
|
| 239 |
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- 0.999
|
| 240 |
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eps: 1e-08
|
| 241 |
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grad_clip_norm: 10
|
| 242 |
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lr: 0.0001
|
| 243 |
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type: adam
|
| 244 |
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weight_decay: 1e-06
|
| 245 |
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output_dir:
|
| 246 |
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value: /home/rguntz/Desktop/robot_learning/outputs/train/diffusion_v2_dinov2_cls_mean_20260519_041213
|
| 247 |
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peft:
|
| 248 |
+
value: null
|
| 249 |
+
persistent_workers:
|
| 250 |
+
value: true
|
| 251 |
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policy:
|
| 252 |
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value:
|
| 253 |
+
beta_end: 0.02
|
| 254 |
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beta_schedule: squaredcos_cap_v2
|
| 255 |
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beta_start: 0.0001
|
| 256 |
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clip_sample: true
|
| 257 |
+
clip_sample_range: 1
|
| 258 |
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compile_mode: reduce-overhead
|
| 259 |
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compile_model: false
|
| 260 |
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crop_is_random: true
|
| 261 |
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crop_ratio: 1
|
| 262 |
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crop_shape: null
|
| 263 |
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device: cuda
|
| 264 |
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diffusion_step_embed_dim: 128
|
| 265 |
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do_mask_loss_for_padding: false
|
| 266 |
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down_dims:
|
| 267 |
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- 512
|
| 268 |
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- 1024
|
| 269 |
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- 2048
|
| 270 |
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drop_n_last_frames: 7
|
| 271 |
+
freeze_vision_encoder: true
|
| 272 |
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horizon: 16
|
| 273 |
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kernel_size: 5
|
| 274 |
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license: null
|
| 275 |
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n_action_steps: 8
|
| 276 |
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n_groups: 8
|
| 277 |
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n_obs_steps: 2
|
| 278 |
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noise_scheduler_type: DDPM
|
| 279 |
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normalization_mapping:
|
| 280 |
+
ACTION: MIN_MAX
|
| 281 |
+
STATE: MIN_MAX
|
| 282 |
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VISUAL: MEAN_STD
|
| 283 |
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num_inference_steps: 100
|
| 284 |
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num_train_timesteps: 100
|
| 285 |
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optimizer_betas:
|
| 286 |
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- 0.95
|
| 287 |
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- 0.999
|
| 288 |
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optimizer_eps: 1e-08
|
| 289 |
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optimizer_lr: 0.0001
|
| 290 |
+
optimizer_weight_decay: 1e-06
|
| 291 |
+
prediction_type: epsilon
|
| 292 |
+
pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
|
| 293 |
+
pretrained_path: null
|
| 294 |
+
private: null
|
| 295 |
+
push_to_hub: false
|
| 296 |
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repo_id: null
|
| 297 |
+
resize_shape:
|
| 298 |
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- 224
|
| 299 |
+
- 224
|
| 300 |
+
scheduler_name: cosine
|
| 301 |
+
scheduler_warmup_steps: 500
|
| 302 |
+
spatial_softmax_num_keypoints: 32
|
| 303 |
+
tags: null
|
| 304 |
+
type: diffusion
|
| 305 |
+
use_amp: false
|
| 306 |
+
use_film_scale_modulation: true
|
| 307 |
+
use_group_norm: false
|
| 308 |
+
use_peft: false
|
| 309 |
+
use_separate_rgb_encoder_per_camera: true
|
| 310 |
+
vision_backbone: resnet18
|
| 311 |
+
vision_backbone_type: dinov2
|
| 312 |
+
vision_encoder_name: facebook/dinov2-with-registers-small
|
| 313 |
+
vit_feature_dim: 512
|
| 314 |
+
vit_pool_type: cls_mean
|
| 315 |
+
prefetch_factor:
|
| 316 |
+
value: 4
|
| 317 |
+
resume:
|
| 318 |
+
value: false
|
| 319 |
+
reward_model:
|
| 320 |
+
value: null
|
| 321 |
+
sample_weighting:
|
| 322 |
+
value: null
|
| 323 |
+
save_checkpoint:
|
| 324 |
+
value: true
|
| 325 |
+
save_freq:
|
| 326 |
+
value: 100000
|
| 327 |
+
scheduler:
|
| 328 |
+
value:
|
| 329 |
+
name: cosine
|
| 330 |
+
num_warmup_steps: 500
|
| 331 |
+
type: diffuser
|
| 332 |
+
seed:
|
| 333 |
+
value: 1000
|
| 334 |
+
steps:
|
| 335 |
+
value: 400000
|
| 336 |
+
tolerance_s:
|
| 337 |
+
value: 0.0001
|
| 338 |
+
use_policy_training_preset:
|
| 339 |
+
value: true
|
| 340 |
+
wandb:
|
| 341 |
+
value:
|
| 342 |
+
add_tags: true
|
| 343 |
+
disable_artifact: false
|
| 344 |
+
enable: true
|
| 345 |
+
entity: null
|
| 346 |
+
mode: null
|
| 347 |
+
notes: null
|
| 348 |
+
project: lerobot
|
| 349 |
+
run_id: null
|
checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/wandb/run-20260519_041222-1tlldy3e/files/output.log
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/wandb/run-20260519_041222-1tlldy3e/files/requirements.txt
ADDED
|
@@ -0,0 +1,171 @@
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|
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|
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|
|
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|
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|
|
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|
|
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|
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|
| 1 |
+
lerobot==0.5.2
|
| 2 |
+
nvidia-cusparselt-cu12==0.7.1
|
| 3 |
+
python-dateutil==2.9.0.post0
|
| 4 |
+
rhoban-cmeel-jsoncpp==1.9.4.9
|
| 5 |
+
torch==2.10.0
|
| 6 |
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diffusers==0.35.2
|
| 7 |
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httpcore==1.0.9
|
| 8 |
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hf-xet==1.4.3
|
| 9 |
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Farama-Notifications==0.0.6
|
| 10 |
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cmeel-boost==1.89.0
|
| 11 |
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jsonlines==4.0.0
|
| 12 |
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torchcodec==0.10.0
|
| 13 |
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torchrl==0.12.0
|
| 14 |
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antlr4-python3-runtime==4.9.3
|
| 15 |
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PyYAML==6.0.3
|
| 16 |
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libcoal==3.0.2
|
| 17 |
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draccus==0.10.0
|
| 18 |
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pure_eval==0.2.3
|
| 19 |
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fsspec==2026.2.0
|
| 20 |
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av==15.1.0
|
| 21 |
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charset-normalizer==3.4.7
|
| 22 |
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multidict==6.7.1
|
| 23 |
+
matplotlib==3.10.9
|
| 24 |
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feetech-servo-sdk==1.0.0
|
| 25 |
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gitdb==4.0.12
|
| 26 |
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cycler==0.12.1
|
| 27 |
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aiohappyeyeballs==2.6.1
|
| 28 |
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xxhash==3.7.0
|
| 29 |
+
ptyprocess==0.7.0
|
| 30 |
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Jinja2==3.1.6
|
| 31 |
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h11==0.16.0
|
| 32 |
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nvidia-cuda-nvrtc-cu12==12.8.93
|
| 33 |
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nvidia-curand-cu12==10.3.9.90
|
| 34 |
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nvidia-cufile-cu12==1.13.1.3
|
| 35 |
+
matplotlib-inline==0.2.2
|
| 36 |
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orjson==3.11.9
|
| 37 |
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regex==2026.4.4
|
| 38 |
+
pyarrow==24.0.0
|
| 39 |
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ImageIO==2.37.3
|
| 40 |
+
termcolor==3.3.0
|
| 41 |
+
jedi==0.20.0
|
| 42 |
+
nvidia-cusolver-cu12==11.7.3.90
|
| 43 |
+
ischedule==1.2.7
|
| 44 |
+
eigenpy==3.12.0
|
| 45 |
+
decorator==5.2.1
|
| 46 |
+
ipython==9.13.0
|
| 47 |
+
zipp==3.23.1
|
| 48 |
+
placo==0.9.20
|
| 49 |
+
cuda-pathfinder==1.5.4
|
| 50 |
+
tqdm==4.67.3
|
| 51 |
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pyparsing==3.3.2
|
| 52 |
+
gymnasium==1.3.0
|
| 53 |
+
cmeel-console-bridge==1.0.2.3
|
| 54 |
+
datasets==4.8.5
|
| 55 |
+
pyserial==3.5
|
| 56 |
+
urllib3==2.6.3
|
| 57 |
+
pyzmq==27.1.0
|
| 58 |
+
executing==2.2.1
|
| 59 |
+
typing-inspection==0.4.2
|
| 60 |
+
toml==0.10.2
|
| 61 |
+
psutil==7.2.2
|
| 62 |
+
dill==0.4.1
|
| 63 |
+
sympy==1.14.0
|
| 64 |
+
itsdangerous==2.2.0
|
| 65 |
+
nvidia-cublas-cu12==12.8.4.1
|
| 66 |
+
numpy==2.2.6
|
| 67 |
+
networkx==3.6.1
|
| 68 |
+
parso==0.8.7
|
| 69 |
+
wandb==0.26.1
|
| 70 |
+
cmeel-urdfdom==4.0.1
|
| 71 |
+
annotated-doc==0.0.4
|
| 72 |
+
tokenizers==0.22.2
|
| 73 |
+
mypy_extensions==1.1.0
|
| 74 |
+
cmeel-tinyxml2==10.0.0
|
| 75 |
+
meshcat==0.3.2
|
| 76 |
+
pandas==2.3.3
|
| 77 |
+
orderly-set==5.5.0
|
| 78 |
+
contourpy==1.3.3
|
| 79 |
+
prompt_toolkit==3.0.52
|
| 80 |
+
yarl==1.23.0
|
| 81 |
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nvidia-nvshmem-cu12==3.4.5
|
| 82 |
+
smmap==5.0.3
|
| 83 |
+
safetensors==0.7.0
|
| 84 |
+
nvidia-nvtx-cu12==12.8.90
|
| 85 |
+
setuptools==80.10.2
|
| 86 |
+
pillow==12.2.0
|
| 87 |
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cmeel-octomap==1.10.0
|
| 88 |
+
mpmath==1.3.0
|
| 89 |
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annotated-types==0.7.0
|
| 90 |
+
omegaconf==2.3.0
|
| 91 |
+
shellingham==1.5.4
|
| 92 |
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mergedeep==1.3.4
|
| 93 |
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tzdata==2026.2
|
| 94 |
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cmeel-assimp==6.0.2
|
| 95 |
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typing_extensions==4.15.0
|
| 96 |
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pexpect==4.9.0
|
| 97 |
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huggingface_hub==1.13.0
|
| 98 |
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platformdirs==4.9.6
|
| 99 |
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cuda-bindings==12.9.4
|
| 100 |
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mdurl==0.1.2
|
| 101 |
+
Werkzeug==3.1.8
|
| 102 |
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markdown-it-py==4.0.0
|
| 103 |
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opencv-python-headless==4.13.0.92
|
| 104 |
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httpx==0.28.1
|
| 105 |
+
Pygments==2.20.0
|
| 106 |
+
typing-inspect==0.9.0
|
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|
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|
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| 142 |
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|
| 144 |
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|
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|
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|
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|
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|
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|
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|
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|
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checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/wandb/run-20260519_041222-1tlldy3e/files/wandb-metadata.json
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|
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|
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checkpoints/diffusion_780_new_dataset_dino_v2_checkpoint_100000/wandb/run-20260519_041222-1tlldy3e/files/wandb-summary.json
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