beast_xvla_refiner_v2, step 40000, joint train_mode=both
Browse files- config.json +144 -0
- model.safetensors +3 -0
- policy_postprocessor.json +32 -0
- policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- policy_preprocessor.json +133 -0
- policy_preprocessor_step_9_normalizer_processor.safetensors +3 -0
- train_config.json +297 -0
config.json
ADDED
|
@@ -0,0 +1,144 @@
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| 1 |
+
{
|
| 2 |
+
"type": "beast_xvla_refiner_v2",
|
| 3 |
+
"n_obs_steps": 1,
|
| 4 |
+
"input_features": {
|
| 5 |
+
"observation.state": {
|
| 6 |
+
"type": "STATE",
|
| 7 |
+
"shape": [
|
| 8 |
+
6
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"observation.environment_state": {
|
| 12 |
+
"type": "ENV",
|
| 13 |
+
"shape": [
|
| 14 |
+
9
|
| 15 |
+
]
|
| 16 |
+
},
|
| 17 |
+
"observation.images.image3": {
|
| 18 |
+
"type": "VISUAL",
|
| 19 |
+
"shape": [
|
| 20 |
+
3,
|
| 21 |
+
224,
|
| 22 |
+
224
|
| 23 |
+
]
|
| 24 |
+
},
|
| 25 |
+
"observation.images.image": {
|
| 26 |
+
"type": "VISUAL",
|
| 27 |
+
"shape": [
|
| 28 |
+
3,
|
| 29 |
+
224,
|
| 30 |
+
224
|
| 31 |
+
]
|
| 32 |
+
},
|
| 33 |
+
"observation.images.image2": {
|
| 34 |
+
"type": "VISUAL",
|
| 35 |
+
"shape": [
|
| 36 |
+
3,
|
| 37 |
+
224,
|
| 38 |
+
224
|
| 39 |
+
]
|
| 40 |
+
},
|
| 41 |
+
"observation.action_velocity": {
|
| 42 |
+
"type": "STATE",
|
| 43 |
+
"shape": [
|
| 44 |
+
7
|
| 45 |
+
]
|
| 46 |
+
}
|
| 47 |
+
},
|
| 48 |
+
"output_features": {
|
| 49 |
+
"action": {
|
| 50 |
+
"type": "ACTION",
|
| 51 |
+
"shape": [
|
| 52 |
+
7
|
| 53 |
+
]
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"device": "cuda",
|
| 57 |
+
"use_amp": false,
|
| 58 |
+
"use_peft": false,
|
| 59 |
+
"push_to_hub": false,
|
| 60 |
+
"repo_id": null,
|
| 61 |
+
"private": null,
|
| 62 |
+
"tags": null,
|
| 63 |
+
"license": null,
|
| 64 |
+
"pretrained_path": null,
|
| 65 |
+
"fps": 25,
|
| 66 |
+
"normalization_mapping": {
|
| 67 |
+
"VISUAL": "IDENTITY",
|
| 68 |
+
"STATE": "IDENTITY",
|
| 69 |
+
"ACTION": "MEAN_STD"
|
| 70 |
+
},
|
| 71 |
+
"xvla_checkpoint": "/vol/coro/jstranghoener/lerobot_volume/huggingface/repos/xvla-base",
|
| 72 |
+
"num_flow_steps": 10,
|
| 73 |
+
"tokenizer_name": "facebook/bart-large",
|
| 74 |
+
"tokenizer_max_length": 50,
|
| 75 |
+
"tokenizer_padding_side": "right",
|
| 76 |
+
"pad_language_to": "max_length",
|
| 77 |
+
"domain_id": 0,
|
| 78 |
+
"xvla_max_action_dim": 20,
|
| 79 |
+
"resize_imgs_with_padding": [
|
| 80 |
+
224,
|
| 81 |
+
224
|
| 82 |
+
],
|
| 83 |
+
"num_image_views": 3,
|
| 84 |
+
"dtype": "bfloat16",
|
| 85 |
+
"freeze_vision_encoder": true,
|
| 86 |
+
"freeze_language_encoder": false,
|
| 87 |
+
"train_policy_transformer": true,
|
| 88 |
+
"train_soft_prompts": true,
|
| 89 |
+
"n_action_steps": 12,
|
| 90 |
+
"chunk_size": 24,
|
| 91 |
+
"num_system2_basis": 12,
|
| 92 |
+
"num_system1_basis": 9,
|
| 93 |
+
"degree_p": 3,
|
| 94 |
+
"gripper_zero_order": true,
|
| 95 |
+
"gripper_dof": 1,
|
| 96 |
+
"sys2_w_min": -5.0,
|
| 97 |
+
"sys2_w_max": 5.0,
|
| 98 |
+
"sys1_w_min": -5.0,
|
| 99 |
+
"sys1_w_max": 5.0,
|
| 100 |
+
"spline_fit_regularization": 1e-05,
|
| 101 |
+
"refiner_hidden_size": 384,
|
| 102 |
+
"refiner_depth": 6,
|
| 103 |
+
"refiner_num_heads": 6,
|
| 104 |
+
"refiner_max_cond_len": 512,
|
| 105 |
+
"action_loss_weight": 1.0,
|
| 106 |
+
"pin_position": true,
|
| 107 |
+
"pin_velocity": true,
|
| 108 |
+
"condition_on_anchor": false,
|
| 109 |
+
"condition_on_anchor_velocity": true,
|
| 110 |
+
"history_len": 5,
|
| 111 |
+
"history_feature_dim": 128,
|
| 112 |
+
"history_time_frequencies_hz": [
|
| 113 |
+
0.5,
|
| 114 |
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1.0,
|
| 115 |
+
2.0,
|
| 116 |
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4.0,
|
| 117 |
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8.0
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| 118 |
+
],
|
| 119 |
+
"history_freeze_backbone": true,
|
| 120 |
+
"history_pretrained_backbone": true,
|
| 121 |
+
"history_dropout": 0.0,
|
| 122 |
+
"history_diff_weight": 0.001,
|
| 123 |
+
"blind_to_plan": false,
|
| 124 |
+
"predict_action_directly": false,
|
| 125 |
+
"vlm_grad_sys1": true,
|
| 126 |
+
"vlm_grad_sys2": true,
|
| 127 |
+
"train_mode": "both",
|
| 128 |
+
"inference_mode": "both",
|
| 129 |
+
"return_act_chunk": false,
|
| 130 |
+
"action_velocity_key": "observation.action_velocity",
|
| 131 |
+
"sys2_optimizer_lr": 2e-05,
|
| 132 |
+
"sys1_optimizer_lr": 0.0003,
|
| 133 |
+
"optimizer_betas": [
|
| 134 |
+
0.9,
|
| 135 |
+
0.95
|
| 136 |
+
],
|
| 137 |
+
"optimizer_eps": 1e-08,
|
| 138 |
+
"optimizer_weight_decay": 0.0001,
|
| 139 |
+
"optimizer_grad_clip_norm": 1.0,
|
| 140 |
+
"scheduler_warmup_steps": 1000,
|
| 141 |
+
"scheduler_decay_steps": 40000,
|
| 142 |
+
"sys2_scheduler_decay_lr": 2.5e-06,
|
| 143 |
+
"sys1_scheduler_decay_lr": 1e-05
|
| 144 |
+
}
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model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:b874b779c23da72323b13eac8cb4ba813a25c972397e754c09da85bfe94bd0df
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| 3 |
+
size 1850525222
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policy_postprocessor.json
ADDED
|
@@ -0,0 +1,32 @@
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| 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 |
+
7
|
| 13 |
+
]
|
| 14 |
+
}
|
| 15 |
+
},
|
| 16 |
+
"norm_map": {
|
| 17 |
+
"VISUAL": "IDENTITY",
|
| 18 |
+
"STATE": "IDENTITY",
|
| 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 |
+
}
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policy_postprocessor_step_0_unnormalizer_processor.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c7a9e8469294193b3bea881f6ba32d29cafd5cbe88923c35a1cead8064fe8e51
|
| 3 |
+
size 8604
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policy_preprocessor.json
ADDED
|
@@ -0,0 +1,133 @@
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|
| 1 |
+
{
|
| 2 |
+
"name": "policy_preprocessor",
|
| 3 |
+
"steps": [
|
| 4 |
+
{
|
| 5 |
+
"registry_name": "rename_observations_processor",
|
| 6 |
+
"config": {
|
| 7 |
+
"rename_map": {
|
| 8 |
+
"observation.images.opst_cam": "observation.images.image",
|
| 9 |
+
"observation.images.side_cam": "observation.images.image2",
|
| 10 |
+
"observation.images.wrist_cam": "observation.images.image3"
|
| 11 |
+
}
|
| 12 |
+
}
|
| 13 |
+
},
|
| 14 |
+
{
|
| 15 |
+
"registry_name": "beast_refiner_add_batch_dimension",
|
| 16 |
+
"config": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"registry_name": "tokenizer_processor",
|
| 20 |
+
"config": {
|
| 21 |
+
"max_length": 50,
|
| 22 |
+
"task_key": "task",
|
| 23 |
+
"padding_side": "right",
|
| 24 |
+
"padding": "max_length",
|
| 25 |
+
"truncation": true,
|
| 26 |
+
"tokenizer_name": "facebook/bart-large"
|
| 27 |
+
}
|
| 28 |
+
},
|
| 29 |
+
{
|
| 30 |
+
"registry_name": "beast_xvla_refiner_v2_image_to_float",
|
| 31 |
+
"config": {}
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"registry_name": "beast_xvla_refiner_v2_imagenet_normalize",
|
| 35 |
+
"config": {}
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"registry_name": "beast_xvla_refiner_v2_add_domain_id",
|
| 39 |
+
"config": {}
|
| 40 |
+
},
|
| 41 |
+
{
|
| 42 |
+
"registry_name": "beast_xvla_refiner_v2_velocity_fallback",
|
| 43 |
+
"config": {
|
| 44 |
+
"velocity_key": "observation.action_velocity",
|
| 45 |
+
"action_dim": 7
|
| 46 |
+
}
|
| 47 |
+
},
|
| 48 |
+
{
|
| 49 |
+
"registry_name": "beast_xvla_refiner_v2_normalize_velocity",
|
| 50 |
+
"config": {
|
| 51 |
+
"velocity_key": "observation.action_velocity",
|
| 52 |
+
"action_scale": [
|
| 53 |
+
0.1521461308002472,
|
| 54 |
+
0.2062179297208786,
|
| 55 |
+
0.12297115474939346,
|
| 56 |
+
0.1427786946296692,
|
| 57 |
+
0.2901972532272339,
|
| 58 |
+
0.47654685378074646,
|
| 59 |
+
0.9008533954620361
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
{
|
| 64 |
+
"registry_name": "device_processor",
|
| 65 |
+
"config": {
|
| 66 |
+
"device": "cuda",
|
| 67 |
+
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| 71 |
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|
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|
| 73 |
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|
| 74 |
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| 76 |
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| 77 |
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| 78 |
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|
| 79 |
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|
| 80 |
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| 81 |
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| 83 |
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| 94 |
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| 95 |
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|
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| 124 |
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|
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|
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|
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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}
|
| 132 |
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]
|
| 133 |
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}
|
policy_preprocessor_step_9_normalizer_processor.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
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|
|
|
|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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|
| 3 |
+
size 8604
|
train_config.json
ADDED
|
@@ -0,0 +1,297 @@
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|
| 1 |
+
{
|
| 2 |
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|
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|
| 4 |
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|
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|
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|
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|
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|
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