RobotisSW commited on
Commit
8ffbfae
·
verified ·
1 Parent(s): 714cd40

Upload folder using huggingface_hub

Browse files
config.json ADDED
@@ -0,0 +1,79 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 16
9
+ ]
10
+ },
11
+ "observation.images.rgb.cam_left_head": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 720,
16
+ 1280
17
+ ]
18
+ },
19
+ "observation.images.rgb.cam_left_wrist": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 640,
24
+ 480
25
+ ]
26
+ },
27
+ "observation.images.rgb.cam_right_wrist": {
28
+ "type": "VISUAL",
29
+ "shape": [
30
+ 3,
31
+ 640,
32
+ 480
33
+ ]
34
+ }
35
+ },
36
+ "output_features": {
37
+ "action": {
38
+ "type": "ACTION",
39
+ "shape": [
40
+ 16
41
+ ]
42
+ }
43
+ },
44
+ "device": "cuda",
45
+ "use_amp": false,
46
+ "use_peft": false,
47
+ "push_to_hub": false,
48
+ "repo_id": null,
49
+ "private": null,
50
+ "tags": null,
51
+ "license": null,
52
+ "pretrained_path": null,
53
+ "chunk_size": 45,
54
+ "n_action_steps": 45,
55
+ "normalization_mapping": {
56
+ "VISUAL": "MEAN_STD",
57
+ "STATE": "MEAN_STD",
58
+ "ACTION": "MEAN_STD"
59
+ },
60
+ "vision_backbone": "resnet18",
61
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
62
+ "replace_final_stride_with_dilation": false,
63
+ "pre_norm": false,
64
+ "dim_model": 512,
65
+ "n_heads": 8,
66
+ "dim_feedforward": 3200,
67
+ "feedforward_activation": "relu",
68
+ "n_encoder_layers": 4,
69
+ "n_decoder_layers": 1,
70
+ "use_vae": true,
71
+ "latent_dim": 32,
72
+ "n_vae_encoder_layers": 4,
73
+ "temporal_ensemble_coeff": null,
74
+ "dropout": 0.1,
75
+ "kl_weight": 10.0,
76
+ "optimizer_lr": 1e-05,
77
+ "optimizer_weight_decay": 0.0001,
78
+ "optimizer_lr_backbone": 1e-05
79
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5b43b0394101430405b4257321f45c366dc599879a5e71221316546f24ab1df4
3
+ size 206556416
policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 16
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MEAN_STD",
19
+ "ACTION": "MEAN_STD"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3934ce08c632c02254939f0690261b5a71721584c686c64a36e4c07a9a516715
3
+ size 5720
policy_preprocessor.json ADDED
@@ -0,0 +1,72 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.state": {
27
+ "type": "STATE",
28
+ "shape": [
29
+ 16
30
+ ]
31
+ },
32
+ "observation.images.rgb.cam_left_head": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 720,
37
+ 1280
38
+ ]
39
+ },
40
+ "observation.images.rgb.cam_left_wrist": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 640,
45
+ 480
46
+ ]
47
+ },
48
+ "observation.images.rgb.cam_right_wrist": {
49
+ "type": "VISUAL",
50
+ "shape": [
51
+ 3,
52
+ 640,
53
+ 480
54
+ ]
55
+ },
56
+ "action": {
57
+ "type": "ACTION",
58
+ "shape": [
59
+ 16
60
+ ]
61
+ }
62
+ },
63
+ "norm_map": {
64
+ "VISUAL": "MEAN_STD",
65
+ "STATE": "MEAN_STD",
66
+ "ACTION": "MEAN_STD"
67
+ }
68
+ },
69
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
70
+ }
71
+ ]
72
+ }
policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:95cab329e3f34258d9836c510dd86f6c71c6c255662714ea5ebd8c334cda3de3
3
+ size 5736
train_config.json ADDED
@@ -0,0 +1,187 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "local/Task_000237_Pick_Peanut_Mix_WhiteShelf_Lift0_lerobot_v3_filtered",
4
+ "root": "/home/robotis-ai/cyclo_intelligence/docker/workspace/lerobot/Task_000237_Pick_Peanut_Mix_WhiteShelf_Lift0_lerobot_v3_filtered",
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": true,
8
+ "max_num_transforms": 2,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.95,
17
+ 1.05
18
+ ]
19
+ }
20
+ },
21
+ "affine": {
22
+ "weight": 1.0,
23
+ "type": "RandomAffine",
24
+ "kwargs": {
25
+ "degrees": [
26
+ -2,
27
+ 2
28
+ ],
29
+ "translate": [
30
+ 0.01,
31
+ 0.01
32
+ ]
33
+ }
34
+ }
35
+ }
36
+ },
37
+ "revision": null,
38
+ "use_imagenet_stats": true,
39
+ "video_backend": "torchcodec",
40
+ "return_uint8": false,
41
+ "depth_output_unit": "mm",
42
+ "streaming": false,
43
+ "eval_split": 0.0
44
+ },
45
+ "env": null,
46
+ "policy": {
47
+ "type": "act",
48
+ "n_obs_steps": 1,
49
+ "input_features": {
50
+ "observation.state": {
51
+ "type": "STATE",
52
+ "shape": [
53
+ 16
54
+ ]
55
+ },
56
+ "observation.images.rgb.cam_left_head": {
57
+ "type": "VISUAL",
58
+ "shape": [
59
+ 3,
60
+ 720,
61
+ 1280
62
+ ]
63
+ },
64
+ "observation.images.rgb.cam_left_wrist": {
65
+ "type": "VISUAL",
66
+ "shape": [
67
+ 3,
68
+ 640,
69
+ 480
70
+ ]
71
+ },
72
+ "observation.images.rgb.cam_right_wrist": {
73
+ "type": "VISUAL",
74
+ "shape": [
75
+ 3,
76
+ 640,
77
+ 480
78
+ ]
79
+ }
80
+ },
81
+ "output_features": {
82
+ "action": {
83
+ "type": "ACTION",
84
+ "shape": [
85
+ 16
86
+ ]
87
+ }
88
+ },
89
+ "device": "cuda",
90
+ "use_amp": false,
91
+ "use_peft": false,
92
+ "push_to_hub": false,
93
+ "repo_id": null,
94
+ "private": null,
95
+ "tags": null,
96
+ "license": null,
97
+ "pretrained_path": null,
98
+ "pretrained_revision": null,
99
+ "chunk_size": 45,
100
+ "n_action_steps": 45,
101
+ "normalization_mapping": {
102
+ "VISUAL": "MEAN_STD",
103
+ "STATE": "MEAN_STD",
104
+ "ACTION": "MEAN_STD"
105
+ },
106
+ "vision_backbone": "resnet18",
107
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
108
+ "replace_final_stride_with_dilation": false,
109
+ "pre_norm": false,
110
+ "dim_model": 512,
111
+ "n_heads": 8,
112
+ "dim_feedforward": 3200,
113
+ "feedforward_activation": "relu",
114
+ "n_encoder_layers": 4,
115
+ "n_decoder_layers": 1,
116
+ "use_vae": true,
117
+ "latent_dim": 32,
118
+ "n_vae_encoder_layers": 4,
119
+ "temporal_ensemble_coeff": null,
120
+ "dropout": 0.1,
121
+ "kl_weight": 10.0,
122
+ "optimizer_lr": 1e-05,
123
+ "optimizer_weight_decay": 0.0001,
124
+ "optimizer_lr_backbone": 1e-05
125
+ },
126
+ "reward_model": null,
127
+ "output_dir": "/home/robotis-ai/cyclo_intelligence/docker/workspace/model/lerobot/Task_000237_Pick_Peanut_Mix_WhiteShelf_Lift0_lerobot_v3_filtered_0720",
128
+ "job_name": "Task_000237_Pick_Peanut_Mix_WhiteShelf_Lift0_lerobot_v3_filtered",
129
+ "resume": false,
130
+ "seed": 1000,
131
+ "cudnn_deterministic": false,
132
+ "num_workers": 4,
133
+ "batch_size": 16,
134
+ "prefetch_factor": 4,
135
+ "persistent_workers": true,
136
+ "steps": 50000,
137
+ "env_eval_freq": 0,
138
+ "log_freq": 100,
139
+ "eval_steps": 0,
140
+ "max_eval_samples": 0,
141
+ "tolerance_s": 0.0001,
142
+ "save_checkpoint": true,
143
+ "save_freq": 10000,
144
+ "use_policy_training_preset": true,
145
+ "optimizer": {
146
+ "type": "adamw",
147
+ "lr": 1e-05,
148
+ "weight_decay": 0.0001,
149
+ "grad_clip_norm": 10.0,
150
+ "betas": [
151
+ 0.9,
152
+ 0.999
153
+ ],
154
+ "eps": 1e-08
155
+ },
156
+ "scheduler": null,
157
+ "eval": {
158
+ "n_episodes": 50,
159
+ "batch_size": 16,
160
+ "use_async_envs": true,
161
+ "recording": false,
162
+ "recording_repo_id": null,
163
+ "recording_private": false
164
+ },
165
+ "wandb": {
166
+ "enable": false,
167
+ "disable_artifact": false,
168
+ "project": "lerobot",
169
+ "entity": null,
170
+ "notes": null,
171
+ "run_id": null,
172
+ "mode": null,
173
+ "add_tags": true
174
+ },
175
+ "peft": null,
176
+ "job": {
177
+ "target": null,
178
+ "image": "huggingface/lerobot-gpu:latest",
179
+ "timeout": "2d",
180
+ "detach": false,
181
+ "tags": []
182
+ },
183
+ "save_checkpoint_to_hub": false,
184
+ "sample_weighting": null,
185
+ "rename_map": {},
186
+ "checkpoint_path": null
187
+ }