Upload model
Browse files- config.json +85 -57
- model.safetensors +2 -2
- policy_postprocessor.json +1 -1
- policy_preprocessor.json +17 -2
- train_config.json +57 -32
config.json
CHANGED
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@@ -1,61 +1,89 @@
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{
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],
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"hidden_act": "silu",
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"hidden_size": 1024,
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"initializer_range": 0.02,
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"intermediate_size": 3072,
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"layer_types": [
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention",
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"full_attention"
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],
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"max_position_embeddings": 40960,
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"max_window_layers": 28,
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"model_type": "qwen3",
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"num_attention_heads": 16,
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"num_hidden_layers": 28,
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"num_key_value_heads": 8,
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"pad_token_id": 151654,
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"rms_norm_eps": 1e-06,
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"rope_scaling": null,
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"rope_theta": 1000000,
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"sliding_window": null,
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"tie_word_embeddings": true,
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"unsloth_fixed": true,
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"unsloth_version": "2026.2.1",
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"use_cache": true,
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"
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"
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}
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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.state": {
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"type": "STATE",
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"shape": [
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]
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},
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"observation.images.side": {
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"type": "VISUAL",
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"shape": [
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3,
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1080,
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1920
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]
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},
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"observation.images.front": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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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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]
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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": false,
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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": "lerobot/smolvla_base",
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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": true,
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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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"self_attn_every_n_layers": 2,
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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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model.safetensors
CHANGED
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@@ -1,3 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:
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size
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version https://git-lfs.github.com/spec/v1
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oid sha256:46b647e65da1188b7cec91c3a7f44daeacc01b6497f46acd31a3c4241c7f144e
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size 1197789224
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policy_postprocessor.json
CHANGED
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}
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},
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"norm_map": {
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"VISUAL": "
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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}
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}
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},
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"norm_map": {
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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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policy_preprocessor.json
CHANGED
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@@ -11,6 +11,21 @@
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"registry_name": "to_batch_processor",
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"config": {}
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},
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{
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"registry_name": "device_processor",
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"config": {
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}
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},
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"norm_map": {
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"VISUAL": "
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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}
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},
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"state_file": "
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}
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]
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}
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"registry_name": "to_batch_processor",
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"config": {}
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},
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{
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"registry_name": "smolvla_new_line_processor",
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"config": {}
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},
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{
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"registry_name": "tokenizer_processor",
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"config": {
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"max_length": 48,
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"task_key": "task",
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"padding_side": "right",
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"padding": "max_length",
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"truncation": true,
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"tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct"
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}
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},
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{
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"registry_name": "device_processor",
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"config": {
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}
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},
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"norm_map": {
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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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},
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"state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
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}
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]
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}
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train_config.json
CHANGED
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},
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"env": null,
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"policy": {
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"type": "
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"n_obs_steps": 1,
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"input_features": {
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"observation.state": {
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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path":
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"chunk_size":
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"n_action_steps":
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"normalization_mapping": {
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"VISUAL": "
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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},
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"output_dir": "/workspace/outputs",
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-
"job_name": "
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"resume": false,
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"seed": 1000,
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"num_workers": 4,
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"batch_size": 8,
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-
"steps":
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"eval_freq": 20000,
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"log_freq": 200,
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"save_checkpoint": true,
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"save_freq":
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"use_policy_training_preset": true,
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"optimizer": {
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"type": "adamw",
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"lr":
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"weight_decay":
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"grad_clip_norm": 10
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"betas": [
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0.9,
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0.
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],
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"eps": 1e-08
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},
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"scheduler":
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"eval": {
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"n_episodes": 50,
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"batch_size": 50,
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},
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"env": null,
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"policy": {
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"type": "smolvla",
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"n_obs_steps": 1,
|
| 86 |
"input_features": {
|
| 87 |
"observation.state": {
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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path": "lerobot/smolvla_base",
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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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| 139 |
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"empty_cameras": 0,
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"adapt_to_pi_aloha": false,
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| 141 |
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"use_delta_joint_actions_aloha": false,
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| 142 |
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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": true,
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"train_expert_only": true,
|
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"train_state_proj": true,
|
| 148 |
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"optimizer_lr": 0.0001,
|
| 149 |
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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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| 160 |
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"load_vlm_weights": false,
|
| 161 |
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"add_image_special_tokens": false,
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| 162 |
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"attention_mode": "cross_attn",
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| 163 |
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"prefix_length": -1,
|
| 164 |
+
"pad_language_to": "longest",
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"num_expert_layers": -1,
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| 166 |
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"num_vlm_layers": 16,
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"self_attn_every_n_layers": 2,
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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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"output_dir": "/workspace/outputs",
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"job_name": "my-first",
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"resume": false,
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"seed": 1000,
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| 176 |
"num_workers": 4,
|
| 177 |
"batch_size": 8,
|
| 178 |
+
"steps": 30000,
|
| 179 |
"eval_freq": 20000,
|
| 180 |
"log_freq": 200,
|
| 181 |
"save_checkpoint": true,
|
| 182 |
+
"save_freq": 3000,
|
| 183 |
"use_policy_training_preset": true,
|
| 184 |
"optimizer": {
|
| 185 |
"type": "adamw",
|
| 186 |
+
"lr": 0.0001,
|
| 187 |
+
"weight_decay": 1e-10,
|
| 188 |
+
"grad_clip_norm": 10,
|
| 189 |
"betas": [
|
| 190 |
0.9,
|
| 191 |
+
0.95
|
| 192 |
],
|
| 193 |
"eps": 1e-08
|
| 194 |
},
|
| 195 |
+
"scheduler": {
|
| 196 |
+
"type": "cosine_decay_with_warmup",
|
| 197 |
+
"num_warmup_steps": 1000,
|
| 198 |
+
"num_decay_steps": 30000,
|
| 199 |
+
"peak_lr": 0.0001,
|
| 200 |
+
"decay_lr": 2.5e-06
|
| 201 |
+
},
|
| 202 |
"eval": {
|
| 203 |
"n_episodes": 50,
|
| 204 |
"batch_size": 50,
|