Upload folder using huggingface_hub
Browse files- config.json +78 -0
- model.safetensors +3 -0
- train_config.json +202 -0
config.json
ADDED
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{
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"type": "pi0",
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"n_obs_steps": 1,
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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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"input_features": {
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"observation.state": {
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"type": "STATE",
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"shape": [
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18
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]
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},
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"observation.images.cam_low": {
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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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"observation.images.cam_left_wrist": {
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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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"observation.images.cam_right_wrist": {
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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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18
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]
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}
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},
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"chunk_size": 50,
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"n_action_steps": 50,
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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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224,
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224
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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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"proj_width": 1024,
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"num_steps": 10,
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"use_cache": true,
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"attention_implementation": "eager",
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"freeze_vision_encoder": true,
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| 66 |
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"train_expert_only": false,
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"train_state_proj": true,
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"optimizer_lr": 2.5e-05,
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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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| 74 |
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"optimizer_weight_decay": 1e-10,
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| 75 |
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"scheduler_warmup_steps": 1000,
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| 76 |
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"scheduler_decay_steps": 30000,
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"scheduler_decay_lr": 2.5e-06
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}
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model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:35d5b834e359d83e98f6a269a98b0dd8f408fc9f1c1a4f1cd2933fa2009e1339
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size 7536022840
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train_config.json
ADDED
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{
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| 2 |
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"dataset": {
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| 3 |
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"repo_id": "TrossenRoboticsCommunity/aloha_fold_tshirt",
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| 4 |
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"episodes": null,
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| 5 |
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"image_transforms": {
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| 6 |
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"enable": false,
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| 7 |
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"max_num_transforms": 3,
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| 8 |
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"random_order": false,
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| 9 |
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"tfs": {
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| 10 |
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"brightness": {
|
| 11 |
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"weight": 1.0,
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| 12 |
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"type": "ColorJitter",
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| 13 |
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"kwargs": {
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| 14 |
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"brightness": [
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0.8,
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1.2
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]
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}
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| 19 |
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},
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| 20 |
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"contrast": {
|
| 21 |
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"weight": 1.0,
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| 22 |
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"type": "ColorJitter",
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| 23 |
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"kwargs": {
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| 24 |
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"contrast": [
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| 25 |
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0.8,
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| 26 |
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1.2
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| 27 |
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]
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| 28 |
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}
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| 29 |
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},
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| 30 |
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"saturation": {
|
| 31 |
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"weight": 1.0,
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| 32 |
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"type": "ColorJitter",
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| 33 |
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"kwargs": {
|
| 34 |
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"saturation": [
|
| 35 |
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0.5,
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| 36 |
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1.5
|
| 37 |
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]
|
| 38 |
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}
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| 39 |
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},
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| 40 |
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"hue": {
|
| 41 |
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"weight": 1.0,
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| 42 |
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"type": "ColorJitter",
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| 43 |
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"kwargs": {
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| 44 |
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"hue": [
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| 45 |
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-0.05,
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| 46 |
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0.05
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| 47 |
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]
|
| 48 |
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}
|
| 49 |
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},
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| 50 |
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"sharpness": {
|
| 51 |
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"weight": 1.0,
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| 52 |
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"type": "SharpnessJitter",
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| 53 |
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"kwargs": {
|
| 54 |
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"sharpness": [
|
| 55 |
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0.5,
|
| 56 |
+
1.5
|
| 57 |
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]
|
| 58 |
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}
|
| 59 |
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}
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| 60 |
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}
|
| 61 |
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},
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| 62 |
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"local_files_only": false,
|
| 63 |
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"use_imagenet_stats": true,
|
| 64 |
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"video_backend": "pyav"
|
| 65 |
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},
|
| 66 |
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"env": null,
|
| 67 |
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"policy": {
|
| 68 |
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"type": "pi0",
|
| 69 |
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"n_obs_steps": 1,
|
| 70 |
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"normalization_mapping": {
|
| 71 |
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"VISUAL": "IDENTITY",
|
| 72 |
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"STATE": "MEAN_STD",
|
| 73 |
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"ACTION": "MEAN_STD"
|
| 74 |
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},
|
| 75 |
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"input_features": {
|
| 76 |
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"observation.state": {
|
| 77 |
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"type": "STATE",
|
| 78 |
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"shape": [
|
| 79 |
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18
|
| 80 |
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]
|
| 81 |
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},
|
| 82 |
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"observation.images.cam_low": {
|
| 83 |
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"type": "VISUAL",
|
| 84 |
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"shape": [
|
| 85 |
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3,
|
| 86 |
+
480,
|
| 87 |
+
640
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| 88 |
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]
|
| 89 |
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},
|
| 90 |
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"observation.images.cam_left_wrist": {
|
| 91 |
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"type": "VISUAL",
|
| 92 |
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"shape": [
|
| 93 |
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3,
|
| 94 |
+
480,
|
| 95 |
+
640
|
| 96 |
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]
|
| 97 |
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},
|
| 98 |
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"observation.images.cam_right_wrist": {
|
| 99 |
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"type": "VISUAL",
|
| 100 |
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"shape": [
|
| 101 |
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3,
|
| 102 |
+
480,
|
| 103 |
+
640
|
| 104 |
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]
|
| 105 |
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}
|
| 106 |
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},
|
| 107 |
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"output_features": {
|
| 108 |
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"action": {
|
| 109 |
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"type": "ACTION",
|
| 110 |
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"shape": [
|
| 111 |
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18
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| 112 |
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]
|
| 113 |
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}
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| 114 |
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},
|
| 115 |
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"chunk_size": 50,
|
| 116 |
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"n_action_steps": 50,
|
| 117 |
+
"max_state_dim": 32,
|
| 118 |
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"max_action_dim": 32,
|
| 119 |
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"resize_imgs_with_padding": [
|
| 120 |
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224,
|
| 121 |
+
224
|
| 122 |
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],
|
| 123 |
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"empty_cameras": 0,
|
| 124 |
+
"adapt_to_pi_aloha": false,
|
| 125 |
+
"use_delta_joint_actions_aloha": false,
|
| 126 |
+
"tokenizer_max_length": 48,
|
| 127 |
+
"proj_width": 1024,
|
| 128 |
+
"num_steps": 10,
|
| 129 |
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"use_cache": true,
|
| 130 |
+
"attention_implementation": "eager",
|
| 131 |
+
"freeze_vision_encoder": true,
|
| 132 |
+
"train_expert_only": false,
|
| 133 |
+
"train_state_proj": true,
|
| 134 |
+
"optimizer_lr": 2.5e-05,
|
| 135 |
+
"optimizer_betas": [
|
| 136 |
+
0.9,
|
| 137 |
+
0.95
|
| 138 |
+
],
|
| 139 |
+
"optimizer_eps": 1e-08,
|
| 140 |
+
"optimizer_weight_decay": 1e-10,
|
| 141 |
+
"scheduler_warmup_steps": 1000,
|
| 142 |
+
"scheduler_decay_steps": 30000,
|
| 143 |
+
"scheduler_decay_lr": 2.5e-06
|
| 144 |
+
},
|
| 145 |
+
"output_dir": "outputs/train/2025-02-05/00-16-57_pi0",
|
| 146 |
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"job_name": "pi0",
|
| 147 |
+
"resume": false,
|
| 148 |
+
"device": "cuda",
|
| 149 |
+
"use_amp": false,
|
| 150 |
+
"seed": 1000,
|
| 151 |
+
"num_workers": 4,
|
| 152 |
+
"batch_size": 4,
|
| 153 |
+
"eval_freq": 20000,
|
| 154 |
+
"log_freq": 200,
|
| 155 |
+
"save_checkpoint": true,
|
| 156 |
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"save_freq": 20000,
|
| 157 |
+
"offline": {
|
| 158 |
+
"steps": 100000
|
| 159 |
+
},
|
| 160 |
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"online": {
|
| 161 |
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"steps": 0,
|
| 162 |
+
"rollout_n_episodes": 1,
|
| 163 |
+
"rollout_batch_size": 1,
|
| 164 |
+
"steps_between_rollouts": null,
|
| 165 |
+
"sampling_ratio": 0.5,
|
| 166 |
+
"env_seed": null,
|
| 167 |
+
"buffer_capacity": null,
|
| 168 |
+
"buffer_seed_size": 0,
|
| 169 |
+
"do_rollout_async": false
|
| 170 |
+
},
|
| 171 |
+
"use_policy_training_preset": true,
|
| 172 |
+
"optimizer": {
|
| 173 |
+
"type": "adamw",
|
| 174 |
+
"lr": 2.5e-05,
|
| 175 |
+
"weight_decay": 1e-10,
|
| 176 |
+
"grad_clip_norm": 10.0,
|
| 177 |
+
"betas": [
|
| 178 |
+
0.9,
|
| 179 |
+
0.95
|
| 180 |
+
],
|
| 181 |
+
"eps": 1e-08
|
| 182 |
+
},
|
| 183 |
+
"scheduler": {
|
| 184 |
+
"type": "cosine_decay_with_warmup",
|
| 185 |
+
"num_warmup_steps": 1000,
|
| 186 |
+
"num_decay_steps": 30000,
|
| 187 |
+
"peak_lr": 2.5e-05,
|
| 188 |
+
"decay_lr": 2.5e-06
|
| 189 |
+
},
|
| 190 |
+
"eval": {
|
| 191 |
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"n_episodes": 50,
|
| 192 |
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"batch_size": 50,
|
| 193 |
+
"use_async_envs": false
|
| 194 |
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},
|
| 195 |
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"wandb": {
|
| 196 |
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"enable": false,
|
| 197 |
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"disable_artifact": false,
|
| 198 |
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"project": "lerobot",
|
| 199 |
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"entity": null,
|
| 200 |
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"notes": null
|
| 201 |
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}
|
| 202 |
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}
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