Upload checkpoint at step 4500
Browse files
checkpoint_step_4500/config.json
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{
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"type": "smolvla",
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"n_obs_steps": 1,
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"input_features": {
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"observation.images.rgb.left_wrist": {
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"type": "VISUAL",
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"shape": [
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480,
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480,
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3
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]
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},
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"observation.images.rgb.right_wrist": {
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"type": "VISUAL",
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"shape": [
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480,
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480,
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3
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]
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},
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"observation.images.rgb.head": {
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"type": "VISUAL",
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"shape": [
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720,
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720,
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3
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]
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},
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"observation.cam_rel_poses": {
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"type": "STATE",
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"shape": [
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21
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]
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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256
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]
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},
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"observation.task_info": {
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"type": "STATE",
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"shape": [
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58
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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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23
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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": null,
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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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"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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"max_state_dim": 32,
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"max_action_dim": 32,
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"resize_imgs_with_padding": [
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512,
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512
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],
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"empty_cameras": 0,
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"adapt_to_pi_aloha": false,
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"use_delta_joint_actions_aloha": false,
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"tokenizer_max_length": 48,
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"num_steps": 10,
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"use_cache": true,
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"freeze_vision_encoder": false,
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"train_expert_only": true,
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"train_state_proj": true,
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"optimizer_lr": 0.0001,
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"optimizer_betas": [
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0.9,
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0.95
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 1e-10,
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"optimizer_grad_clip_norm": 10,
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"scheduler_warmup_steps": 1000,
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"scheduler_decay_steps": 30000,
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"scheduler_decay_lr": 2.5e-06,
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"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
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"load_vlm_weights": false,
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"add_image_special_tokens": false,
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"attention_mode": "cross_attn",
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"prefix_length": -1,
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"pad_language_to": "longest",
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"num_expert_layers": -1,
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"num_vlm_layers": 16,
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| 105 |
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"self_attn_every_n_layers": 2,
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| 106 |
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"expert_width_multiplier": 0.75,
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"min_period": 0.004,
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"max_period": 4.0
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}
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checkpoint_step_4500/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:96d81f99d1748499fc02e256f4de9b8265833c4abb6fc35d45bbc8bda5f2b4de
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size 1197789224
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