Safetensors
zaringleb commited on
Commit
836a836
·
verified ·
1 Parent(s): cee41d7

Upload folder using huggingface_hub

Browse files
Files changed (3) hide show
  1. config.json +82 -0
  2. model.safetensors +3 -0
  3. train_config.json +187 -0
config.json ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "normalization_mapping": {
5
+ "VISUAL": "MEAN_STD",
6
+ "STATE": "MEAN_STD",
7
+ "ACTION": "MEAN_STD"
8
+ },
9
+ "input_features": {
10
+ "observation.effort": {
11
+ "type": "STATE",
12
+ "shape": [
13
+ 14
14
+ ]
15
+ },
16
+ "observation.images.cam_high": {
17
+ "type": "VISUAL",
18
+ "shape": [
19
+ 3,
20
+ 480,
21
+ 848
22
+ ]
23
+ },
24
+ "observation.images.cam_left_wrist": {
25
+ "type": "VISUAL",
26
+ "shape": [
27
+ 3,
28
+ 480,
29
+ 848
30
+ ]
31
+ },
32
+ "observation.images.cam_right_wrist": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 480,
37
+ 848
38
+ ]
39
+ },
40
+ "observation.state": {
41
+ "type": "STATE",
42
+ "shape": [
43
+ 14
44
+ ]
45
+ },
46
+ "observation.qvel": {
47
+ "type": "STATE",
48
+ "shape": [
49
+ 14
50
+ ]
51
+ }
52
+ },
53
+ "output_features": {
54
+ "action": {
55
+ "type": "ACTION",
56
+ "shape": [
57
+ 14
58
+ ]
59
+ }
60
+ },
61
+ "chunk_size": 100,
62
+ "n_action_steps": 100,
63
+ "vision_backbone": "resnet18",
64
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
65
+ "replace_final_stride_with_dilation": false,
66
+ "pre_norm": false,
67
+ "dim_model": 512,
68
+ "n_heads": 8,
69
+ "dim_feedforward": 3200,
70
+ "feedforward_activation": "relu",
71
+ "n_encoder_layers": 4,
72
+ "n_decoder_layers": 1,
73
+ "use_vae": true,
74
+ "latent_dim": 32,
75
+ "n_vae_encoder_layers": 4,
76
+ "temporal_ensemble_coeff": null,
77
+ "dropout": 0.1,
78
+ "kl_weight": 10.0,
79
+ "optimizer_lr": 1e-05,
80
+ "optimizer_weight_decay": 0.0001,
81
+ "optimizer_lr_backbone": 1e-05
82
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f41153810dd82cd498be307a1da61de69be97c910c3dbe5be126036b37bb2b5b
3
+ size 206767840
train_config.json ADDED
@@ -0,0 +1,187 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "HumanoidTeam/pick_cube_binary",
4
+ "episodes": null,
5
+ "image_transforms": {
6
+ "enable": false,
7
+ "max_num_transforms": 3,
8
+ "random_order": false,
9
+ "tfs": {
10
+ "brightness": {
11
+ "weight": 1.0,
12
+ "type": "ColorJitter",
13
+ "kwargs": {
14
+ "brightness": [
15
+ 0.8,
16
+ 1.2
17
+ ]
18
+ }
19
+ },
20
+ "contrast": {
21
+ "weight": 1.0,
22
+ "type": "ColorJitter",
23
+ "kwargs": {
24
+ "contrast": [
25
+ 0.8,
26
+ 1.2
27
+ ]
28
+ }
29
+ },
30
+ "saturation": {
31
+ "weight": 1.0,
32
+ "type": "ColorJitter",
33
+ "kwargs": {
34
+ "saturation": [
35
+ 0.5,
36
+ 1.5
37
+ ]
38
+ }
39
+ },
40
+ "hue": {
41
+ "weight": 1.0,
42
+ "type": "ColorJitter",
43
+ "kwargs": {
44
+ "hue": [
45
+ -0.05,
46
+ 0.05
47
+ ]
48
+ }
49
+ },
50
+ "sharpness": {
51
+ "weight": 1.0,
52
+ "type": "SharpnessJitter",
53
+ "kwargs": {
54
+ "sharpness": [
55
+ 0.5,
56
+ 1.5
57
+ ]
58
+ }
59
+ }
60
+ }
61
+ },
62
+ "local_files_only": false,
63
+ "use_imagenet_stats": true,
64
+ "video_backend": "pyav"
65
+ },
66
+ "env": null,
67
+ "policy": {
68
+ "type": "act",
69
+ "n_obs_steps": 1,
70
+ "normalization_mapping": {
71
+ "VISUAL": "MEAN_STD",
72
+ "STATE": "MEAN_STD",
73
+ "ACTION": "MEAN_STD"
74
+ },
75
+ "input_features": {
76
+ "observation.effort": {
77
+ "type": "STATE",
78
+ "shape": [
79
+ 14
80
+ ]
81
+ },
82
+ "observation.images.cam_high": {
83
+ "type": "VISUAL",
84
+ "shape": [
85
+ 3,
86
+ 480,
87
+ 848
88
+ ]
89
+ },
90
+ "observation.images.cam_left_wrist": {
91
+ "type": "VISUAL",
92
+ "shape": [
93
+ 3,
94
+ 480,
95
+ 848
96
+ ]
97
+ },
98
+ "observation.images.cam_right_wrist": {
99
+ "type": "VISUAL",
100
+ "shape": [
101
+ 3,
102
+ 480,
103
+ 848
104
+ ]
105
+ },
106
+ "observation.state": {
107
+ "type": "STATE",
108
+ "shape": [
109
+ 14
110
+ ]
111
+ },
112
+ "observation.qvel": {
113
+ "type": "STATE",
114
+ "shape": [
115
+ 14
116
+ ]
117
+ }
118
+ },
119
+ "output_features": {
120
+ "action": {
121
+ "type": "ACTION",
122
+ "shape": [
123
+ 14
124
+ ]
125
+ }
126
+ },
127
+ "chunk_size": 100,
128
+ "n_action_steps": 100,
129
+ "vision_backbone": "resnet18",
130
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
131
+ "replace_final_stride_with_dilation": false,
132
+ "pre_norm": false,
133
+ "dim_model": 512,
134
+ "n_heads": 8,
135
+ "dim_feedforward": 3200,
136
+ "feedforward_activation": "relu",
137
+ "n_encoder_layers": 4,
138
+ "n_decoder_layers": 1,
139
+ "use_vae": true,
140
+ "latent_dim": 32,
141
+ "n_vae_encoder_layers": 4,
142
+ "temporal_ensemble_coeff": null,
143
+ "dropout": 0.1,
144
+ "kl_weight": 10.0,
145
+ "optimizer_lr": 1e-05,
146
+ "optimizer_weight_decay": 0.0001,
147
+ "optimizer_lr_backbone": 1e-05
148
+ },
149
+ "output_dir": "outputs/train/2025-02-24/18-01-00_act_aloha_cube_binary",
150
+ "job_name": "act_aloha_cube_binary",
151
+ "resume": false,
152
+ "device": "cuda",
153
+ "use_amp": false,
154
+ "seed": 1000,
155
+ "num_workers": 8,
156
+ "batch_size": 8,
157
+ "steps": 80000,
158
+ "eval_freq": 150000,
159
+ "log_freq": 200,
160
+ "save_checkpoint": true,
161
+ "save_freq": 10000,
162
+ "use_policy_training_preset": true,
163
+ "optimizer": {
164
+ "type": "adamw",
165
+ "lr": 1e-05,
166
+ "weight_decay": 0.0001,
167
+ "grad_clip_norm": 10.0,
168
+ "betas": [
169
+ 0.9,
170
+ 0.999
171
+ ],
172
+ "eps": 1e-08
173
+ },
174
+ "scheduler": null,
175
+ "eval": {
176
+ "n_episodes": 50,
177
+ "batch_size": 50,
178
+ "use_async_envs": false
179
+ },
180
+ "wandb": {
181
+ "enable": true,
182
+ "disable_artifact": false,
183
+ "project": "lerobot-aloha",
184
+ "entity": null,
185
+ "notes": "P16"
186
+ }
187
+ }