Hugging Face's logo

EYHUNKIM
/
act_task2_test

Robotics
Safetensors
robotis
cyclo_intelligence
Model card Files
xet
 Community
EYHUNKIM commited on
Commit
1ef3923
·
verified ·
1 Parent(s): 7cc670d

Add files using upload-large-folder tool

Browse files
Files changed (23) hide show
  1. README.md +15 -0
  2. checkpoints/001000/pretrained_model/config.json +87 -0
  3. checkpoints/001000/pretrained_model/model.safetensors +3 -0
  4. checkpoints/001000/pretrained_model/policy_postprocessor.json +32 -0
  5. checkpoints/001000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  6. checkpoints/001000/pretrained_model/policy_preprocessor.json +80 -0
  7. checkpoints/001000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  8. checkpoints/001000/pretrained_model/train_config.json +219 -0
  9. checkpoints/001000/training_state/optimizer_param_groups.json +191 -0
  10. checkpoints/001000/training_state/optimizer_state.safetensors +3 -0
  11. checkpoints/001000/training_state/rng_state.safetensors +3 -0
  12. checkpoints/001000/training_state/training_step.json +3 -0
  13. checkpoints/002000/pretrained_model/config.json +87 -0
  14. checkpoints/002000/pretrained_model/model.safetensors +3 -0
  15. checkpoints/002000/pretrained_model/policy_postprocessor.json +32 -0
  16. checkpoints/002000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  17. checkpoints/002000/pretrained_model/policy_preprocessor.json +80 -0
  18. checkpoints/002000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  19. checkpoints/002000/pretrained_model/train_config.json +219 -0
  20. checkpoints/002000/training_state/optimizer_param_groups.json +191 -0
  21. checkpoints/002000/training_state/optimizer_state.safetensors +3 -0
  22. checkpoints/002000/training_state/rng_state.safetensors +3 -0
  23. checkpoints/002000/training_state/training_step.json +3 -0
README.md ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ pipeline_tag: robotics
3
+ tags:
4
+ - robotis
5
+ - cyclo_intelligence
6
+ - robotics
7
+ datasets:
8
+ - local/Task_8_test8
9
+ ---
10
+
11
+ # act_task8_test
12
+
13
+ Created with [Cyclo Intelligence](https://github.com/ROBOTIS-GIT/cyclo_intelligence) by ROBOTIS.
14
+
15
+ Trained on: [local/Task_8_test8](https://huggingface.co/datasets/local/Task_8_test8)
checkpoints/001000/pretrained_model/config.json ADDED
@@ -0,0 +1,87 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 22
9
+ ]
10
+ },
11
+ "observation.images.rgb.cam_left_wrist": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 424,
16
+ 240
17
+ ]
18
+ },
19
+ "observation.images.rgb.cam_right_wrist": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 424,
24
+ 240
25
+ ]
26
+ },
27
+ "observation.images.rgb.cam_left_head": {
28
+ "type": "VISUAL",
29
+ "shape": [
30
+ 3,
31
+ 376,
32
+ 672
33
+ ]
34
+ },
35
+ "observation.images.rgb.cam_right_head": {
36
+ "type": "VISUAL",
37
+ "shape": [
38
+ 3,
39
+ 376,
40
+ 672
41
+ ]
42
+ }
43
+ },
44
+ "output_features": {
45
+ "action": {
46
+ "type": "ACTION",
47
+ "shape": [
48
+ 22
49
+ ]
50
+ }
51
+ },
52
+ "device": "cuda",
53
+ "use_amp": false,
54
+ "use_peft": false,
55
+ "push_to_hub": false,
56
+ "repo_id": null,
57
+ "private": null,
58
+ "tags": null,
59
+ "license": null,
60
+ "pretrained_path": null,
61
+ "chunk_size": 100,
62
+ "n_action_steps": 100,
63
+ "normalization_mapping": {
64
+ "VISUAL": "MEAN_STD",
65
+ "STATE": "MEAN_STD",
66
+ "ACTION": "MEAN_STD"
67
+ },
68
+ "vision_backbone": "resnet18",
69
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
70
+ "replace_final_stride_with_dilation": false,
71
+ "pre_norm": false,
72
+ "dim_model": 512,
73
+ "n_heads": 8,
74
+ "dim_feedforward": 3200,
75
+ "feedforward_activation": "relu",
76
+ "n_encoder_layers": 4,
77
+ "n_decoder_layers": 1,
78
+ "use_vae": true,
79
+ "latent_dim": 32,
80
+ "n_vae_encoder_layers": 4,
81
+ "temporal_ensemble_coeff": null,
82
+ "dropout": 0.1,
83
+ "kl_weight": 10.0,
84
+ "optimizer_lr": 1e-05,
85
+ "optimizer_weight_decay": 0.0001,
86
+ "optimizer_lr_backbone": 1e-05
87
+ }
checkpoints/001000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:768f34f727dc5ec0945ac576cab2227f5aab66a51a115436533d34db13d08b60
3
+ size 206830872
checkpoints/001000/pretrained_model/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
+ 22
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
+ }
checkpoints/001000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b1f92884c682d9343e02fda7582477c1089b61967ece1803a64a68635c228e40
3
+ size 4584
checkpoints/001000/pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,80 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ 22
30
+ ]
31
+ },
32
+ "observation.images.rgb.cam_left_wrist": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 424,
37
+ 240
38
+ ]
39
+ },
40
+ "observation.images.rgb.cam_right_wrist": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 424,
45
+ 240
46
+ ]
47
+ },
48
+ "observation.images.rgb.cam_left_head": {
49
+ "type": "VISUAL",
50
+ "shape": [
51
+ 3,
52
+ 376,
53
+ 672
54
+ ]
55
+ },
56
+ "observation.images.rgb.cam_right_head": {
57
+ "type": "VISUAL",
58
+ "shape": [
59
+ 3,
60
+ 376,
61
+ 672
62
+ ]
63
+ },
64
+ "action": {
65
+ "type": "ACTION",
66
+ "shape": [
67
+ 22
68
+ ]
69
+ }
70
+ },
71
+ "norm_map": {
72
+ "VISUAL": "MEAN_STD",
73
+ "STATE": "MEAN_STD",
74
+ "ACTION": "MEAN_STD"
75
+ }
76
+ },
77
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
78
+ }
79
+ ]
80
+ }
checkpoints/001000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b1f92884c682d9343e02fda7582477c1089b61967ece1803a64a68635c228e40
3
+ size 4584
checkpoints/001000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,219 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "local/Task_8_test8",
4
+ "root": "/home/aicenter01/cyclo_intelligence/docker/workspace/lerobot/Task_8_test8_MCAP_lerobot_v30",
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ },
61
+ "affine": {
62
+ "weight": 1.0,
63
+ "type": "RandomAffine",
64
+ "kwargs": {
65
+ "degrees": [
66
+ -5.0,
67
+ 5.0
68
+ ],
69
+ "translate": [
70
+ 0.05,
71
+ 0.05
72
+ ]
73
+ }
74
+ }
75
+ }
76
+ },
77
+ "revision": null,
78
+ "use_imagenet_stats": true,
79
+ "video_backend": "torchcodec",
80
+ "return_uint8": false,
81
+ "streaming": false
82
+ },
83
+ "env": null,
84
+ "policy": {
85
+ "type": "act",
86
+ "n_obs_steps": 1,
87
+ "input_features": {
88
+ "observation.state": {
89
+ "type": "STATE",
90
+ "shape": [
91
+ 22
92
+ ]
93
+ },
94
+ "observation.images.rgb.cam_left_wrist": {
95
+ "type": "VISUAL",
96
+ "shape": [
97
+ 3,
98
+ 424,
99
+ 240
100
+ ]
101
+ },
102
+ "observation.images.rgb.cam_right_wrist": {
103
+ "type": "VISUAL",
104
+ "shape": [
105
+ 3,
106
+ 424,
107
+ 240
108
+ ]
109
+ },
110
+ "observation.images.rgb.cam_left_head": {
111
+ "type": "VISUAL",
112
+ "shape": [
113
+ 3,
114
+ 376,
115
+ 672
116
+ ]
117
+ },
118
+ "observation.images.rgb.cam_right_head": {
119
+ "type": "VISUAL",
120
+ "shape": [
121
+ 3,
122
+ 376,
123
+ 672
124
+ ]
125
+ }
126
+ },
127
+ "output_features": {
128
+ "action": {
129
+ "type": "ACTION",
130
+ "shape": [
131
+ 22
132
+ ]
133
+ }
134
+ },
135
+ "device": "cuda",
136
+ "use_amp": false,
137
+ "use_peft": false,
138
+ "push_to_hub": false,
139
+ "repo_id": null,
140
+ "private": null,
141
+ "tags": null,
142
+ "license": null,
143
+ "pretrained_path": null,
144
+ "chunk_size": 100,
145
+ "n_action_steps": 100,
146
+ "normalization_mapping": {
147
+ "VISUAL": "MEAN_STD",
148
+ "STATE": "MEAN_STD",
149
+ "ACTION": "MEAN_STD"
150
+ },
151
+ "vision_backbone": "resnet18",
152
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
153
+ "replace_final_stride_with_dilation": false,
154
+ "pre_norm": false,
155
+ "dim_model": 512,
156
+ "n_heads": 8,
157
+ "dim_feedforward": 3200,
158
+ "feedforward_activation": "relu",
159
+ "n_encoder_layers": 4,
160
+ "n_decoder_layers": 1,
161
+ "use_vae": true,
162
+ "latent_dim": 32,
163
+ "n_vae_encoder_layers": 4,
164
+ "temporal_ensemble_coeff": null,
165
+ "dropout": 0.1,
166
+ "kl_weight": 10.0,
167
+ "optimizer_lr": 1e-05,
168
+ "optimizer_weight_decay": 0.0001,
169
+ "optimizer_lr_backbone": 1e-05
170
+ },
171
+ "reward_model": null,
172
+ "output_dir": "/home/aicenter01/lerobot_runs/act_task8_test",
173
+ "job_name": "act_task8_test",
174
+ "resume": false,
175
+ "seed": 1000,
176
+ "cudnn_deterministic": false,
177
+ "num_workers": 4,
178
+ "batch_size": 8,
179
+ "prefetch_factor": 4,
180
+ "persistent_workers": true,
181
+ "steps": 2000,
182
+ "eval_freq": 20000,
183
+ "log_freq": 200,
184
+ "tolerance_s": 0.0001,
185
+ "save_checkpoint": true,
186
+ "save_freq": 1000,
187
+ "use_policy_training_preset": true,
188
+ "optimizer": {
189
+ "type": "adamw",
190
+ "lr": 1e-05,
191
+ "weight_decay": 0.0001,
192
+ "grad_clip_norm": 10.0,
193
+ "betas": [
194
+ 0.9,
195
+ 0.999
196
+ ],
197
+ "eps": 1e-08
198
+ },
199
+ "scheduler": null,
200
+ "eval": {
201
+ "n_episodes": 50,
202
+ "batch_size": 16,
203
+ "use_async_envs": true
204
+ },
205
+ "wandb": {
206
+ "enable": false,
207
+ "disable_artifact": false,
208
+ "project": "lerobot",
209
+ "entity": null,
210
+ "notes": null,
211
+ "run_id": null,
212
+ "mode": null,
213
+ "add_tags": true
214
+ },
215
+ "peft": null,
216
+ "sample_weighting": null,
217
+ "rename_map": {},
218
+ "checkpoint_path": null
219
+ }
checkpoints/001000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "lr": 1e-05,
4
+ "betas": [
5
+ 0.9,
6
+ 0.999
7
+ ],
8
+ "eps": 1e-08,
9
+ "weight_decay": 0.0001,
10
+ "amsgrad": false,
11
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": true,
17
+ "params": [
18
+ 0,
19
+ 1,
20
+ 2,
21
+ 3,
22
+ 4,
23
+ 5,
24
+ 6,
25
+ 7,
26
+ 8,
27
+ 9,
28
+ 10,
29
+ 11,
30
+ 12,
31
+ 13,
32
+ 14,
33
+ 15,
34
+ 16,
35
+ 17,
36
+ 18,
37
+ 19,
38
+ 20,
39
+ 21,
40
+ 22,
41
+ 23,
42
+ 24,
43
+ 25,
44
+ 26,
45
+ 27,
46
+ 28,
47
+ 29,
48
+ 30,
49
+ 31,
50
+ 32,
51
+ 33,
52
+ 34,
53
+ 35,
54
+ 36,
55
+ 37,
56
+ 38,
57
+ 39,
58
+ 40,
59
+ 41,
60
+ 42,
61
+ 43,
62
+ 44,
63
+ 45,
64
+ 46,
65
+ 47,
66
+ 48,
67
+ 49,
68
+ 50,
69
+ 51,
70
+ 52,
71
+ 53,
72
+ 54,
73
+ 55,
74
+ 56,
75
+ 57,
76
+ 58,
77
+ 59,
78
+ 60,
79
+ 61,
80
+ 62,
81
+ 63,
82
+ 64,
83
+ 65,
84
+ 66,
85
+ 67,
86
+ 68,
87
+ 69,
88
+ 70,
89
+ 71,
90
+ 72,
91
+ 73,
92
+ 74,
93
+ 75,
94
+ 76,
95
+ 77,
96
+ 78,
97
+ 79,
98
+ 80,
99
+ 81,
100
+ 82,
101
+ 83,
102
+ 84,
103
+ 85,
104
+ 86,
105
+ 87,
106
+ 88,
107
+ 89,
108
+ 90,
109
+ 91,
110
+ 92,
111
+ 93,
112
+ 94,
113
+ 95,
114
+ 96,
115
+ 97,
116
+ 98,
117
+ 99,
118
+ 100,
119
+ 101,
120
+ 102,
121
+ 103,
122
+ 104,
123
+ 105,
124
+ 106,
125
+ 107,
126
+ 108,
127
+ 109,
128
+ 110,
129
+ 111,
130
+ 112,
131
+ 113,
132
+ 114,
133
+ 115,
134
+ 116,
135
+ 117,
136
+ 118,
137
+ 119,
138
+ 120,
139
+ 121,
140
+ 122,
141
+ 123,
142
+ 124,
143
+ 125,
144
+ 126,
145
+ 127,
146
+ 128,
147
+ 129,
148
+ 130,
149
+ 131,
150
+ 132
151
+ ]
152
+ },
153
+ {
154
+ "lr": 1e-05,
155
+ "betas": [
156
+ 0.9,
157
+ 0.999
158
+ ],
159
+ "eps": 1e-08,
160
+ "weight_decay": 0.0001,
161
+ "amsgrad": false,
162
+ "maximize": false,
163
+ "foreach": null,
164
+ "capturable": false,
165
+ "differentiable": false,
166
+ "fused": null,
167
+ "decoupled_weight_decay": true,
168
+ "params": [
169
+ 133,
170
+ 134,
171
+ 135,
172
+ 136,
173
+ 137,
174
+ 138,
175
+ 139,
176
+ 140,
177
+ 141,
178
+ 142,
179
+ 143,
180
+ 144,
181
+ 145,
182
+ 146,
183
+ 147,
184
+ 148,
185
+ 149,
186
+ 150,
187
+ 151,
188
+ 152
189
+ ]
190
+ }
191
+ ]
checkpoints/001000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1bb03ab11300fbba5f00e285f1d73666360ac1d0e2ed7d2fa255db9d220268f6
3
+ size 413079932
checkpoints/001000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e8529935e297d5dce39cf849c66618a465b7ea4a5257b9de1c7672da98de7bce
3
+ size 15708
checkpoints/001000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 1000
3
+ }
checkpoints/002000/pretrained_model/config.json ADDED
@@ -0,0 +1,87 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 22
9
+ ]
10
+ },
11
+ "observation.images.rgb.cam_left_wrist": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 424,
16
+ 240
17
+ ]
18
+ },
19
+ "observation.images.rgb.cam_right_wrist": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 424,
24
+ 240
25
+ ]
26
+ },
27
+ "observation.images.rgb.cam_left_head": {
28
+ "type": "VISUAL",
29
+ "shape": [
30
+ 3,
31
+ 376,
32
+ 672
33
+ ]
34
+ },
35
+ "observation.images.rgb.cam_right_head": {
36
+ "type": "VISUAL",
37
+ "shape": [
38
+ 3,
39
+ 376,
40
+ 672
41
+ ]
42
+ }
43
+ },
44
+ "output_features": {
45
+ "action": {
46
+ "type": "ACTION",
47
+ "shape": [
48
+ 22
49
+ ]
50
+ }
51
+ },
52
+ "device": "cuda",
53
+ "use_amp": false,
54
+ "use_peft": false,
55
+ "push_to_hub": false,
56
+ "repo_id": null,
57
+ "private": null,
58
+ "tags": null,
59
+ "license": null,
60
+ "pretrained_path": null,
61
+ "chunk_size": 100,
62
+ "n_action_steps": 100,
63
+ "normalization_mapping": {
64
+ "VISUAL": "MEAN_STD",
65
+ "STATE": "MEAN_STD",
66
+ "ACTION": "MEAN_STD"
67
+ },
68
+ "vision_backbone": "resnet18",
69
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
70
+ "replace_final_stride_with_dilation": false,
71
+ "pre_norm": false,
72
+ "dim_model": 512,
73
+ "n_heads": 8,
74
+ "dim_feedforward": 3200,
75
+ "feedforward_activation": "relu",
76
+ "n_encoder_layers": 4,
77
+ "n_decoder_layers": 1,
78
+ "use_vae": true,
79
+ "latent_dim": 32,
80
+ "n_vae_encoder_layers": 4,
81
+ "temporal_ensemble_coeff": null,
82
+ "dropout": 0.1,
83
+ "kl_weight": 10.0,
84
+ "optimizer_lr": 1e-05,
85
+ "optimizer_weight_decay": 0.0001,
86
+ "optimizer_lr_backbone": 1e-05
87
+ }
checkpoints/002000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7844ab9a641ab8c20638246a7dbea5430b2453d64aeed962f063765d9d425a6d
3
+ size 206830872
checkpoints/002000/pretrained_model/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
+ 22
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
+ }
checkpoints/002000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b1f92884c682d9343e02fda7582477c1089b61967ece1803a64a68635c228e40
3
+ size 4584
checkpoints/002000/pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,80 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ 22
30
+ ]
31
+ },
32
+ "observation.images.rgb.cam_left_wrist": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 424,
37
+ 240
38
+ ]
39
+ },
40
+ "observation.images.rgb.cam_right_wrist": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 424,
45
+ 240
46
+ ]
47
+ },
48
+ "observation.images.rgb.cam_left_head": {
49
+ "type": "VISUAL",
50
+ "shape": [
51
+ 3,
52
+ 376,
53
+ 672
54
+ ]
55
+ },
56
+ "observation.images.rgb.cam_right_head": {
57
+ "type": "VISUAL",
58
+ "shape": [
59
+ 3,
60
+ 376,
61
+ 672
62
+ ]
63
+ },
64
+ "action": {
65
+ "type": "ACTION",
66
+ "shape": [
67
+ 22
68
+ ]
69
+ }
70
+ },
71
+ "norm_map": {
72
+ "VISUAL": "MEAN_STD",
73
+ "STATE": "MEAN_STD",
74
+ "ACTION": "MEAN_STD"
75
+ }
76
+ },
77
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
78
+ }
79
+ ]
80
+ }
checkpoints/002000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b1f92884c682d9343e02fda7582477c1089b61967ece1803a64a68635c228e40
3
+ size 4584
checkpoints/002000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,219 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "local/Task_8_test8",
4
+ "root": "/home/aicenter01/cyclo_intelligence/docker/workspace/lerobot/Task_8_test8_MCAP_lerobot_v30",
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ },
61
+ "affine": {
62
+ "weight": 1.0,
63
+ "type": "RandomAffine",
64
+ "kwargs": {
65
+ "degrees": [
66
+ -5.0,
67
+ 5.0
68
+ ],
69
+ "translate": [
70
+ 0.05,
71
+ 0.05
72
+ ]
73
+ }
74
+ }
75
+ }
76
+ },
77
+ "revision": null,
78
+ "use_imagenet_stats": true,
79
+ "video_backend": "torchcodec",
80
+ "return_uint8": false,
81
+ "streaming": false
82
+ },
83
+ "env": null,
84
+ "policy": {
85
+ "type": "act",
86
+ "n_obs_steps": 1,
87
+ "input_features": {
88
+ "observation.state": {
89
+ "type": "STATE",
90
+ "shape": [
91
+ 22
92
+ ]
93
+ },
94
+ "observation.images.rgb.cam_left_wrist": {
95
+ "type": "VISUAL",
96
+ "shape": [
97
+ 3,
98
+ 424,
99
+ 240
100
+ ]
101
+ },
102
+ "observation.images.rgb.cam_right_wrist": {
103
+ "type": "VISUAL",
104
+ "shape": [
105
+ 3,
106
+ 424,
107
+ 240
108
+ ]
109
+ },
110
+ "observation.images.rgb.cam_left_head": {
111
+ "type": "VISUAL",
112
+ "shape": [
113
+ 3,
114
+ 376,
115
+ 672
116
+ ]
117
+ },
118
+ "observation.images.rgb.cam_right_head": {
119
+ "type": "VISUAL",
120
+ "shape": [
121
+ 3,
122
+ 376,
123
+ 672
124
+ ]
125
+ }
126
+ },
127
+ "output_features": {
128
+ "action": {
129
+ "type": "ACTION",
130
+ "shape": [
131
+ 22
132
+ ]
133
+ }
134
+ },
135
+ "device": "cuda",
136
+ "use_amp": false,
137
+ "use_peft": false,
138
+ "push_to_hub": false,
139
+ "repo_id": null,
140
+ "private": null,
141
+ "tags": null,
142
+ "license": null,
143
+ "pretrained_path": null,
144
+ "chunk_size": 100,
145
+ "n_action_steps": 100,
146
+ "normalization_mapping": {
147
+ "VISUAL": "MEAN_STD",
148
+ "STATE": "MEAN_STD",
149
+ "ACTION": "MEAN_STD"
150
+ },
151
+ "vision_backbone": "resnet18",
152
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
153
+ "replace_final_stride_with_dilation": false,
154
+ "pre_norm": false,
155
+ "dim_model": 512,
156
+ "n_heads": 8,
157
+ "dim_feedforward": 3200,
158
+ "feedforward_activation": "relu",
159
+ "n_encoder_layers": 4,
160
+ "n_decoder_layers": 1,
161
+ "use_vae": true,
162
+ "latent_dim": 32,
163
+ "n_vae_encoder_layers": 4,
164
+ "temporal_ensemble_coeff": null,
165
+ "dropout": 0.1,
166
+ "kl_weight": 10.0,
167
+ "optimizer_lr": 1e-05,
168
+ "optimizer_weight_decay": 0.0001,
169
+ "optimizer_lr_backbone": 1e-05
170
+ },
171
+ "reward_model": null,
172
+ "output_dir": "/home/aicenter01/lerobot_runs/act_task8_test",
173
+ "job_name": "act_task8_test",
174
+ "resume": false,
175
+ "seed": 1000,
176
+ "cudnn_deterministic": false,
177
+ "num_workers": 4,
178
+ "batch_size": 8,
179
+ "prefetch_factor": 4,
180
+ "persistent_workers": true,
181
+ "steps": 2000,
182
+ "eval_freq": 20000,
183
+ "log_freq": 200,
184
+ "tolerance_s": 0.0001,
185
+ "save_checkpoint": true,
186
+ "save_freq": 1000,
187
+ "use_policy_training_preset": true,
188
+ "optimizer": {
189
+ "type": "adamw",
190
+ "lr": 1e-05,
191
+ "weight_decay": 0.0001,
192
+ "grad_clip_norm": 10.0,
193
+ "betas": [
194
+ 0.9,
195
+ 0.999
196
+ ],
197
+ "eps": 1e-08
198
+ },
199
+ "scheduler": null,
200
+ "eval": {
201
+ "n_episodes": 50,
202
+ "batch_size": 16,
203
+ "use_async_envs": true
204
+ },
205
+ "wandb": {
206
+ "enable": false,
207
+ "disable_artifact": false,
208
+ "project": "lerobot",
209
+ "entity": null,
210
+ "notes": null,
211
+ "run_id": null,
212
+ "mode": null,
213
+ "add_tags": true
214
+ },
215
+ "peft": null,
216
+ "sample_weighting": null,
217
+ "rename_map": {},
218
+ "checkpoint_path": null
219
+ }
checkpoints/002000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "lr": 1e-05,
4
+ "betas": [
5
+ 0.9,
6
+ 0.999
7
+ ],
8
+ "eps": 1e-08,
9
+ "weight_decay": 0.0001,
10
+ "amsgrad": false,
11
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": true,
17
+ "params": [
18
+ 0,
19
+ 1,
20
+ 2,
21
+ 3,
22
+ 4,
23
+ 5,
24
+ 6,
25
+ 7,
26
+ 8,
27
+ 9,
28
+ 10,
29
+ 11,
30
+ 12,
31
+ 13,
32
+ 14,
33
+ 15,
34
+ 16,
35
+ 17,
36
+ 18,
37
+ 19,
38
+ 20,
39
+ 21,
40
+ 22,
41
+ 23,
42
+ 24,
43
+ 25,
44
+ 26,
45
+ 27,
46
+ 28,
47
+ 29,
48
+ 30,
49
+ 31,
50
+ 32,
51
+ 33,
52
+ 34,
53
+ 35,
54
+ 36,
55
+ 37,
56
+ 38,
57
+ 39,
58
+ 40,
59
+ 41,
60
+ 42,
61
+ 43,
62
+ 44,
63
+ 45,
64
+ 46,
65
+ 47,
66
+ 48,
67
+ 49,
68
+ 50,
69
+ 51,
70
+ 52,
71
+ 53,
72
+ 54,
73
+ 55,
74
+ 56,
75
+ 57,
76
+ 58,
77
+ 59,
78
+ 60,
79
+ 61,
80
+ 62,
81
+ 63,
82
+ 64,
83
+ 65,
84
+ 66,
85
+ 67,
86
+ 68,
87
+ 69,
88
+ 70,
89
+ 71,
90
+ 72,
91
+ 73,
92
+ 74,
93
+ 75,
94
+ 76,
95
+ 77,
96
+ 78,
97
+ 79,
98
+ 80,
99
+ 81,
100
+ 82,
101
+ 83,
102
+ 84,
103
+ 85,
104
+ 86,
105
+ 87,
106
+ 88,
107
+ 89,
108
+ 90,
109
+ 91,
110
+ 92,
111
+ 93,
112
+ 94,
113
+ 95,
114
+ 96,
115
+ 97,
116
+ 98,
117
+ 99,
118
+ 100,
119
+ 101,
120
+ 102,
121
+ 103,
122
+ 104,
123
+ 105,
124
+ 106,
125
+ 107,
126
+ 108,
127
+ 109,
128
+ 110,
129
+ 111,
130
+ 112,
131
+ 113,
132
+ 114,
133
+ 115,
134
+ 116,
135
+ 117,
136
+ 118,
137
+ 119,
138
+ 120,
139
+ 121,
140
+ 122,
141
+ 123,
142
+ 124,
143
+ 125,
144
+ 126,
145
+ 127,
146
+ 128,
147
+ 129,
148
+ 130,
149
+ 131,
150
+ 132
151
+ ]
152
+ },
153
+ {
154
+ "lr": 1e-05,
155
+ "betas": [
156
+ 0.9,
157
+ 0.999
158
+ ],
159
+ "eps": 1e-08,
160
+ "weight_decay": 0.0001,
161
+ "amsgrad": false,
162
+ "maximize": false,
163
+ "foreach": null,
164
+ "capturable": false,
165
+ "differentiable": false,
166
+ "fused": null,
167
+ "decoupled_weight_decay": true,
168
+ "params": [
169
+ 133,
170
+ 134,
171
+ 135,
172
+ 136,
173
+ 137,
174
+ 138,
175
+ 139,
176
+ 140,
177
+ 141,
178
+ 142,
179
+ 143,
180
+ 144,
181
+ 145,
182
+ 146,
183
+ 147,
184
+ 148,
185
+ 149,
186
+ 150,
187
+ 151,
188
+ 152
189
+ ]
190
+ }
191
+ ]
checkpoints/002000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b498e1af2a51d106ad7c78ce8c16bc376ce042c62455552dc26ca8ca94f76de4
3
+ size 413079932
checkpoints/002000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7c9896455594b62b75a3f096e6d83051fa78ded2ca719353f879182986f5f989
3
+ size 15708
checkpoints/002000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 2000
3
+ }