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Browse files- config.json +88 -0
- model.safetensors +3 -0
config.json
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{
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"type": "groot",
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"n_obs_steps": 1,
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"input_features": {
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"observation.state": {
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"type": "STATE",
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"shape": [
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6
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]
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},
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"observation.images.main": {
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"type": "VISUAL",
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"shape": [
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3,
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240,
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320
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]
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},
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"observation.images.secondary_0": {
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"type": "VISUAL",
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"shape": [
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3,
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240,
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320
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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6
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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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"push_to_hub": true,
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"repo_id": "yaama/rbt_classif",
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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path": null,
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"chunk_size": 50,
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"n_action_steps": 50,
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"max_state_dim": 64,
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"max_action_dim": 32,
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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},
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"image_size": [
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224,
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224
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],
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"base_model_path": "nvidia/GR00T-N1.5-3B",
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"tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
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"embodiment_tag": "new_embodiment",
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"tune_llm": false,
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"tune_visual": false,
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"tune_projector": true,
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"tune_diffusion_model": false,
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"lora_rank": 0,
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"lora_alpha": 16,
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"lora_dropout": 0.1,
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"lora_full_model": false,
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"optimizer_lr": 0.0001,
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"optimizer_betas": [
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0.95,
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0.999
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 1e-05,
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"warmup_ratio": 0.05,
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"use_bf16": true,
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"video_backend": "decord",
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"balance_dataset_weights": true,
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"balance_trajectory_weights": true,
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"dataset_paths": null,
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"output_dir": "./tmp/gr00t",
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"save_steps": 1000,
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"max_steps": 10000,
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"batch_size": 32,
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"dataloader_num_workers": 8,
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"report_to": "wandb",
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"resume": false
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}
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model.safetensors
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:023250f3531d1c279bc83b23179a5e8f6d4e88bc657ae351203efaf60466614d
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size 6964802952
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