Hugging Face's logo

Pipe1213
/
act_obj_t2_nall_s3

Robotics
LeRobot
Safetensors
libero
act
imitation-learning
Model card Files
xet
 Community
Pipe1213 commited on
Commit
0cc0cc9
·
verified ·
1 Parent(s): 2553f86

Add files using upload-large-folder tool

Browse files
Files changed (28) hide show
  1. checkpoints/006000/pretrained_model/config.json +73 -0
  2. checkpoints/006000/pretrained_model/model.safetensors +3 -0
  3. checkpoints/006000/pretrained_model/policy_postprocessor.json +32 -0
  4. checkpoints/006000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  5. checkpoints/006000/pretrained_model/policy_preprocessor.json +64 -0
  6. checkpoints/006000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  7. checkpoints/006000/pretrained_model/train_config.json +338 -0
  8. checkpoints/008000/pretrained_model/config.json +73 -0
  9. checkpoints/008000/pretrained_model/model.safetensors +3 -0
  10. checkpoints/008000/pretrained_model/policy_postprocessor.json +32 -0
  11. checkpoints/008000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  12. checkpoints/008000/pretrained_model/policy_preprocessor.json +64 -0
  13. checkpoints/008000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  14. checkpoints/008000/pretrained_model/train_config.json +338 -0
  15. checkpoints/010000/pretrained_model/config.json +73 -0
  16. checkpoints/010000/pretrained_model/model.safetensors +3 -0
  17. checkpoints/010000/pretrained_model/policy_postprocessor.json +32 -0
  18. checkpoints/010000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  19. checkpoints/010000/pretrained_model/policy_preprocessor.json +64 -0
  20. checkpoints/010000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  21. checkpoints/010000/pretrained_model/train_config.json +338 -0
  22. config.json +73 -0
  23. model.safetensors +3 -0
  24. policy_postprocessor.json +32 -0
  25. policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  26. policy_preprocessor.json +64 -0
  27. policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  28. train_config.json +338 -0
checkpoints/006000/pretrained_model/config.json ADDED
@@ -0,0 +1,73 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.images.image": {
6
+ "type": "VISUAL",
7
+ "shape": [
8
+ 3,
9
+ 256,
10
+ 256
11
+ ]
12
+ },
13
+ "observation.images.image2": {
14
+ "type": "VISUAL",
15
+ "shape": [
16
+ 3,
17
+ 256,
18
+ 256
19
+ ]
20
+ },
21
+ "observation.state": {
22
+ "type": "STATE",
23
+ "shape": [
24
+ 8
25
+ ]
26
+ }
27
+ },
28
+ "output_features": {
29
+ "action": {
30
+ "type": "ACTION",
31
+ "shape": [
32
+ 7
33
+ ]
34
+ }
35
+ },
36
+ "device": "cuda",
37
+ "dtype": null,
38
+ "use_amp": false,
39
+ "use_peft": false,
40
+ "push_to_hub": false,
41
+ "repo_id": null,
42
+ "private": null,
43
+ "tags": null,
44
+ "license": null,
45
+ "pretrained_path": null,
46
+ "pretrained_revision": null,
47
+ "chunk_size": 100,
48
+ "n_action_steps": 100,
49
+ "normalization_mapping": {
50
+ "VISUAL": "MEAN_STD",
51
+ "STATE": "MEAN_STD",
52
+ "ACTION": "MEAN_STD"
53
+ },
54
+ "vision_backbone": "resnet18",
55
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
56
+ "replace_final_stride_with_dilation": false,
57
+ "pre_norm": false,
58
+ "dim_model": 512,
59
+ "n_heads": 8,
60
+ "dim_feedforward": 3200,
61
+ "feedforward_activation": "relu",
62
+ "n_encoder_layers": 4,
63
+ "n_decoder_layers": 1,
64
+ "use_vae": true,
65
+ "latent_dim": 32,
66
+ "n_vae_encoder_layers": 4,
67
+ "temporal_ensemble_coeff": null,
68
+ "dropout": 0.1,
69
+ "kl_weight": 10.0,
70
+ "optimizer_lr": 1e-05,
71
+ "optimizer_weight_decay": 0.0001,
72
+ "optimizer_lr_backbone": 1e-05
73
+ }
checkpoints/006000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d7c69edfdcdaa0ab3ce7ecb0d41cc839f74cfeaf16a7382d671307992a264b96
3
+ size 206712060
checkpoints/006000/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
+ 7
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/006000/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:a002c0df7f79c5b169c5a899ad151d4ea1bed246c7d82bd93ed1556558d517a9
3
+ size 7668
checkpoints/006000/pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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.images.image": {
27
+ "type": "VISUAL",
28
+ "shape": [
29
+ 3,
30
+ 256,
31
+ 256
32
+ ]
33
+ },
34
+ "observation.images.image2": {
35
+ "type": "VISUAL",
36
+ "shape": [
37
+ 3,
38
+ 256,
39
+ 256
40
+ ]
41
+ },
42
+ "observation.state": {
43
+ "type": "STATE",
44
+ "shape": [
45
+ 8
46
+ ]
47
+ },
48
+ "action": {
49
+ "type": "ACTION",
50
+ "shape": [
51
+ 7
52
+ ]
53
+ }
54
+ },
55
+ "norm_map": {
56
+ "VISUAL": "MEAN_STD",
57
+ "STATE": "MEAN_STD",
58
+ "ACTION": "MEAN_STD"
59
+ }
60
+ },
61
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
62
+ }
63
+ ]
64
+ }
checkpoints/006000/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:f98234b21ce8ffacf1b86657f3cf8e24ac6c31ebcd6a3b83cecd484439674306
3
+ size 7676
checkpoints/006000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,338 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "lerobot/libero",
4
+ "repo_type": "dataset",
5
+ "root": null,
6
+ "episodes": [
7
+ 819,
8
+ 827,
9
+ 828,
10
+ 844,
11
+ 855,
12
+ 861,
13
+ 872,
14
+ 873,
15
+ 881,
16
+ 884,
17
+ 907,
18
+ 914,
19
+ 917,
20
+ 921,
21
+ 927,
22
+ 938,
23
+ 939,
24
+ 958,
25
+ 960,
26
+ 961,
27
+ 994,
28
+ 999,
29
+ 1012,
30
+ 1014,
31
+ 1026,
32
+ 1052,
33
+ 1059,
34
+ 1063,
35
+ 1076,
36
+ 1088,
37
+ 1091,
38
+ 1113,
39
+ 1115,
40
+ 1118,
41
+ 1124,
42
+ 1145,
43
+ 1158,
44
+ 1178,
45
+ 1183,
46
+ 1185,
47
+ 1186,
48
+ 1212,
49
+ 1215,
50
+ 1220,
51
+ 1238
52
+ ],
53
+ "exclude_episodes": null,
54
+ "image_transforms": {
55
+ "enable": false,
56
+ "backend": "dataloader",
57
+ "gpu_compile": true,
58
+ "gpu_chunk_size": 32,
59
+ "max_num_transforms": 3,
60
+ "random_order": false,
61
+ "tfs": {
62
+ "brightness": {
63
+ "weight": 1.0,
64
+ "type": "ColorJitter",
65
+ "kwargs": {
66
+ "brightness": [
67
+ 0.8,
68
+ 1.2
69
+ ]
70
+ }
71
+ },
72
+ "contrast": {
73
+ "weight": 1.0,
74
+ "type": "ColorJitter",
75
+ "kwargs": {
76
+ "contrast": [
77
+ 0.8,
78
+ 1.2
79
+ ]
80
+ }
81
+ },
82
+ "saturation": {
83
+ "weight": 1.0,
84
+ "type": "ColorJitter",
85
+ "kwargs": {
86
+ "saturation": [
87
+ 0.5,
88
+ 1.5
89
+ ]
90
+ }
91
+ },
92
+ "hue": {
93
+ "weight": 1.0,
94
+ "type": "ColorJitter",
95
+ "kwargs": {
96
+ "hue": [
97
+ -0.05,
98
+ 0.05
99
+ ]
100
+ }
101
+ },
102
+ "sharpness": {
103
+ "weight": 1.0,
104
+ "type": "SharpnessJitter",
105
+ "kwargs": {
106
+ "sharpness": [
107
+ 0.5,
108
+ 1.5
109
+ ]
110
+ }
111
+ },
112
+ "affine": {
113
+ "weight": 1.0,
114
+ "type": "RandomAffine",
115
+ "kwargs": {
116
+ "degrees": [
117
+ -5.0,
118
+ 5.0
119
+ ],
120
+ "translate": [
121
+ 0.05,
122
+ 0.05
123
+ ]
124
+ }
125
+ }
126
+ }
127
+ },
128
+ "revision": "a1aaacb7f6cd6ee5fb43120f673cebb0cfea7dd4",
129
+ "use_imagenet_stats": true,
130
+ "video_backend": "torchcodec",
131
+ "return_uint8": false,
132
+ "depth_output_unit": "mm",
133
+ "streaming": false,
134
+ "streaming_episode_pool_size": 32,
135
+ "streaming_sampling_strategy": "remaining",
136
+ "streaming_prefetch_episodes": 8,
137
+ "streaming_byte_budget_gb": 8.0,
138
+ "streaming_decode_threads": 2,
139
+ "streaming_decoded_queue_size": 8,
140
+ "streaming_native_http_connections": null,
141
+ "streaming_native_http_subranges": 1,
142
+ "video_decoder_cache_size": null,
143
+ "eval_split": 0.0
144
+ },
145
+ "env": null,
146
+ "policy": {
147
+ "type": "act",
148
+ "n_obs_steps": 1,
149
+ "input_features": {
150
+ "observation.images.image": {
151
+ "type": "VISUAL",
152
+ "shape": [
153
+ 3,
154
+ 256,
155
+ 256
156
+ ]
157
+ },
158
+ "observation.images.image2": {
159
+ "type": "VISUAL",
160
+ "shape": [
161
+ 3,
162
+ 256,
163
+ 256
164
+ ]
165
+ },
166
+ "observation.state": {
167
+ "type": "STATE",
168
+ "shape": [
169
+ 8
170
+ ]
171
+ }
172
+ },
173
+ "output_features": {
174
+ "action": {
175
+ "type": "ACTION",
176
+ "shape": [
177
+ 7
178
+ ]
179
+ }
180
+ },
181
+ "device": "cuda",
182
+ "dtype": null,
183
+ "use_amp": false,
184
+ "use_peft": false,
185
+ "push_to_hub": false,
186
+ "repo_id": null,
187
+ "private": null,
188
+ "tags": null,
189
+ "license": null,
190
+ "pretrained_path": null,
191
+ "pretrained_revision": null,
192
+ "chunk_size": 100,
193
+ "n_action_steps": 100,
194
+ "normalization_mapping": {
195
+ "VISUAL": "MEAN_STD",
196
+ "STATE": "MEAN_STD",
197
+ "ACTION": "MEAN_STD"
198
+ },
199
+ "vision_backbone": "resnet18",
200
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
201
+ "replace_final_stride_with_dilation": false,
202
+ "pre_norm": false,
203
+ "dim_model": 512,
204
+ "n_heads": 8,
205
+ "dim_feedforward": 3200,
206
+ "feedforward_activation": "relu",
207
+ "n_encoder_layers": 4,
208
+ "n_decoder_layers": 1,
209
+ "use_vae": true,
210
+ "latent_dim": 32,
211
+ "n_vae_encoder_layers": 4,
212
+ "temporal_ensemble_coeff": null,
213
+ "dropout": 0.1,
214
+ "kl_weight": 10.0,
215
+ "optimizer_lr": 1e-05,
216
+ "optimizer_weight_decay": 0.0001,
217
+ "optimizer_lr_backbone": 1e-05
218
+ },
219
+ "reward_model": null,
220
+ "output_dir": "outputs/train/act_obj_t2_nall_s3",
221
+ "job_name": "act_obj_t2_nall_s3",
222
+ "resume": false,
223
+ "seed": 3000,
224
+ "cudnn_deterministic": false,
225
+ "num_workers": 4,
226
+ "batch_size": 8,
227
+ "prefetch_factor": 4,
228
+ "persistent_workers": true,
229
+ "dataloader_multiprocessing_context": "spawn",
230
+ "steps": 10000,
231
+ "env_eval_freq": 20000,
232
+ "log_freq": 200,
233
+ "eval_steps": 0,
234
+ "max_eval_samples": 0,
235
+ "tolerance_s": 0.0001,
236
+ "save_checkpoint": true,
237
+ "save_freq": 2000,
238
+ "checkpoint_format": "safetensors",
239
+ "use_policy_training_preset": true,
240
+ "optimizer": {
241
+ "type": "adamw",
242
+ "lr": 1e-05,
243
+ "weight_decay": 0.0001,
244
+ "grad_clip_norm": 10.0,
245
+ "betas": [
246
+ 0.9,
247
+ 0.999
248
+ ],
249
+ "eps": 1e-08
250
+ },
251
+ "scheduler": null,
252
+ "parallelism": {
253
+ "dp_replicate": 1,
254
+ "dp_shard": 1,
255
+ "context_parallel": {
256
+ "ring_degree": 1,
257
+ "ulysses_degree": 1
258
+ },
259
+ "cfg_parallel": 1
260
+ },
261
+ "accelerator": {
262
+ "mixed_precision": "no",
263
+ "gradient_accumulation": {
264
+ "steps": 1
265
+ },
266
+ "grad_scaler": {
267
+ "init_scale": 65536.0,
268
+ "growth_factor": 2.0,
269
+ "backoff_factor": 0.5,
270
+ "growth_interval": 2000
271
+ },
272
+ "fsdp": {
273
+ "reshard_after_forward": true,
274
+ "wrap_modules": null,
275
+ "min_num_params": null,
276
+ "cpu_offload": false,
277
+ "ignored_modules": null
278
+ },
279
+ "ddp": {
280
+ "find_unused_parameters": true,
281
+ "gradient_as_bucket_view": false,
282
+ "static_graph": false
283
+ },
284
+ "compile": {
285
+ "enabled": false,
286
+ "backend": "inductor",
287
+ "mode": null,
288
+ "regional": true
289
+ },
290
+ "activation_checkpointing": {
291
+ "mode": "none"
292
+ }
293
+ },
294
+ "eval": {
295
+ "n_episodes": 50,
296
+ "batch_size": 8,
297
+ "use_async_envs": true,
298
+ "recording": false,
299
+ "recording_repo_id": null,
300
+ "recording_private": false
301
+ },
302
+ "ema": {
303
+ "enable": false,
304
+ "decay": null,
305
+ "update_after_step": 0,
306
+ "inv_gamma": 1.0,
307
+ "power": 0.75,
308
+ "min_decay": 0.0,
309
+ "max_decay": 0.9999,
310
+ "use_for_eval": true
311
+ },
312
+ "wandb": {
313
+ "enable": true,
314
+ "disable_artifact": true,
315
+ "project": "lerobot",
316
+ "entity": null,
317
+ "notes": null,
318
+ "run_id": "veyag594",
319
+ "resume": null,
320
+ "mode": null,
321
+ "console": "wrap",
322
+ "console_multipart": false,
323
+ "console_chunk_max_seconds": 0,
324
+ "add_tags": true
325
+ },
326
+ "peft": null,
327
+ "job": {
328
+ "target": null,
329
+ "image": "huggingface/lerobot-gpu:latest",
330
+ "timeout": "2d",
331
+ "detach": false,
332
+ "tags": []
333
+ },
334
+ "save_checkpoint_to_hub": false,
335
+ "sample_weighting": null,
336
+ "rename_map": {},
337
+ "checkpoint_path": null
338
+ }
checkpoints/008000/pretrained_model/config.json ADDED
@@ -0,0 +1,73 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.images.image": {
6
+ "type": "VISUAL",
7
+ "shape": [
8
+ 3,
9
+ 256,
10
+ 256
11
+ ]
12
+ },
13
+ "observation.images.image2": {
14
+ "type": "VISUAL",
15
+ "shape": [
16
+ 3,
17
+ 256,
18
+ 256
19
+ ]
20
+ },
21
+ "observation.state": {
22
+ "type": "STATE",
23
+ "shape": [
24
+ 8
25
+ ]
26
+ }
27
+ },
28
+ "output_features": {
29
+ "action": {
30
+ "type": "ACTION",
31
+ "shape": [
32
+ 7
33
+ ]
34
+ }
35
+ },
36
+ "device": "cuda",
37
+ "dtype": null,
38
+ "use_amp": false,
39
+ "use_peft": false,
40
+ "push_to_hub": false,
41
+ "repo_id": null,
42
+ "private": null,
43
+ "tags": null,
44
+ "license": null,
45
+ "pretrained_path": null,
46
+ "pretrained_revision": null,
47
+ "chunk_size": 100,
48
+ "n_action_steps": 100,
49
+ "normalization_mapping": {
50
+ "VISUAL": "MEAN_STD",
51
+ "STATE": "MEAN_STD",
52
+ "ACTION": "MEAN_STD"
53
+ },
54
+ "vision_backbone": "resnet18",
55
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
56
+ "replace_final_stride_with_dilation": false,
57
+ "pre_norm": false,
58
+ "dim_model": 512,
59
+ "n_heads": 8,
60
+ "dim_feedforward": 3200,
61
+ "feedforward_activation": "relu",
62
+ "n_encoder_layers": 4,
63
+ "n_decoder_layers": 1,
64
+ "use_vae": true,
65
+ "latent_dim": 32,
66
+ "n_vae_encoder_layers": 4,
67
+ "temporal_ensemble_coeff": null,
68
+ "dropout": 0.1,
69
+ "kl_weight": 10.0,
70
+ "optimizer_lr": 1e-05,
71
+ "optimizer_weight_decay": 0.0001,
72
+ "optimizer_lr_backbone": 1e-05
73
+ }
checkpoints/008000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:851e48fdc64de6772542808e5afe2bc2bb812f3f1c7deaef30cc79336bc00f8d
3
+ size 206712060
checkpoints/008000/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
+ 7
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/008000/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:a002c0df7f79c5b169c5a899ad151d4ea1bed246c7d82bd93ed1556558d517a9
3
+ size 7668
checkpoints/008000/pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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.images.image": {
27
+ "type": "VISUAL",
28
+ "shape": [
29
+ 3,
30
+ 256,
31
+ 256
32
+ ]
33
+ },
34
+ "observation.images.image2": {
35
+ "type": "VISUAL",
36
+ "shape": [
37
+ 3,
38
+ 256,
39
+ 256
40
+ ]
41
+ },
42
+ "observation.state": {
43
+ "type": "STATE",
44
+ "shape": [
45
+ 8
46
+ ]
47
+ },
48
+ "action": {
49
+ "type": "ACTION",
50
+ "shape": [
51
+ 7
52
+ ]
53
+ }
54
+ },
55
+ "norm_map": {
56
+ "VISUAL": "MEAN_STD",
57
+ "STATE": "MEAN_STD",
58
+ "ACTION": "MEAN_STD"
59
+ }
60
+ },
61
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
62
+ }
63
+ ]
64
+ }
checkpoints/008000/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:f98234b21ce8ffacf1b86657f3cf8e24ac6c31ebcd6a3b83cecd484439674306
3
+ size 7676
checkpoints/008000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,338 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "lerobot/libero",
4
+ "repo_type": "dataset",
5
+ "root": null,
6
+ "episodes": [
7
+ 819,
8
+ 827,
9
+ 828,
10
+ 844,
11
+ 855,
12
+ 861,
13
+ 872,
14
+ 873,
15
+ 881,
16
+ 884,
17
+ 907,
18
+ 914,
19
+ 917,
20
+ 921,
21
+ 927,
22
+ 938,
23
+ 939,
24
+ 958,
25
+ 960,
26
+ 961,
27
+ 994,
28
+ 999,
29
+ 1012,
30
+ 1014,
31
+ 1026,
32
+ 1052,
33
+ 1059,
34
+ 1063,
35
+ 1076,
36
+ 1088,
37
+ 1091,
38
+ 1113,
39
+ 1115,
40
+ 1118,
41
+ 1124,
42
+ 1145,
43
+ 1158,
44
+ 1178,
45
+ 1183,
46
+ 1185,
47
+ 1186,
48
+ 1212,
49
+ 1215,
50
+ 1220,
51
+ 1238
52
+ ],
53
+ "exclude_episodes": null,
54
+ "image_transforms": {
55
+ "enable": false,
56
+ "backend": "dataloader",
57
+ "gpu_compile": true,
58
+ "gpu_chunk_size": 32,
59
+ "max_num_transforms": 3,
60
+ "random_order": false,
61
+ "tfs": {
62
+ "brightness": {
63
+ "weight": 1.0,
64
+ "type": "ColorJitter",
65
+ "kwargs": {
66
+ "brightness": [
67
+ 0.8,
68
+ 1.2
69
+ ]
70
+ }
71
+ },
72
+ "contrast": {
73
+ "weight": 1.0,
74
+ "type": "ColorJitter",
75
+ "kwargs": {
76
+ "contrast": [
77
+ 0.8,
78
+ 1.2
79
+ ]
80
+ }
81
+ },
82
+ "saturation": {
83
+ "weight": 1.0,
84
+ "type": "ColorJitter",
85
+ "kwargs": {
86
+ "saturation": [
87
+ 0.5,
88
+ 1.5
89
+ ]
90
+ }
91
+ },
92
+ "hue": {
93
+ "weight": 1.0,
94
+ "type": "ColorJitter",
95
+ "kwargs": {
96
+ "hue": [
97
+ -0.05,
98
+ 0.05
99
+ ]
100
+ }
101
+ },
102
+ "sharpness": {
103
+ "weight": 1.0,
104
+ "type": "SharpnessJitter",
105
+ "kwargs": {
106
+ "sharpness": [
107
+ 0.5,
108
+ 1.5
109
+ ]
110
+ }
111
+ },
112
+ "affine": {
113
+ "weight": 1.0,
114
+ "type": "RandomAffine",
115
+ "kwargs": {
116
+ "degrees": [
117
+ -5.0,
118
+ 5.0
119
+ ],
120
+ "translate": [
121
+ 0.05,
122
+ 0.05
123
+ ]
124
+ }
125
+ }
126
+ }
127
+ },
128
+ "revision": "a1aaacb7f6cd6ee5fb43120f673cebb0cfea7dd4",
129
+ "use_imagenet_stats": true,
130
+ "video_backend": "torchcodec",
131
+ "return_uint8": false,
132
+ "depth_output_unit": "mm",
133
+ "streaming": false,
134
+ "streaming_episode_pool_size": 32,
135
+ "streaming_sampling_strategy": "remaining",
136
+ "streaming_prefetch_episodes": 8,
137
+ "streaming_byte_budget_gb": 8.0,
138
+ "streaming_decode_threads": 2,
139
+ "streaming_decoded_queue_size": 8,
140
+ "streaming_native_http_connections": null,
141
+ "streaming_native_http_subranges": 1,
142
+ "video_decoder_cache_size": null,
143
+ "eval_split": 0.0
144
+ },
145
+ "env": null,
146
+ "policy": {
147
+ "type": "act",
148
+ "n_obs_steps": 1,
149
+ "input_features": {
150
+ "observation.images.image": {
151
+ "type": "VISUAL",
152
+ "shape": [
153
+ 3,
154
+ 256,
155
+ 256
156
+ ]
157
+ },
158
+ "observation.images.image2": {
159
+ "type": "VISUAL",
160
+ "shape": [
161
+ 3,
162
+ 256,
163
+ 256
164
+ ]
165
+ },
166
+ "observation.state": {
167
+ "type": "STATE",
168
+ "shape": [
169
+ 8
170
+ ]
171
+ }
172
+ },
173
+ "output_features": {
174
+ "action": {
175
+ "type": "ACTION",
176
+ "shape": [
177
+ 7
178
+ ]
179
+ }
180
+ },
181
+ "device": "cuda",
182
+ "dtype": null,
183
+ "use_amp": false,
184
+ "use_peft": false,
185
+ "push_to_hub": false,
186
+ "repo_id": null,
187
+ "private": null,
188
+ "tags": null,
189
+ "license": null,
190
+ "pretrained_path": null,
191
+ "pretrained_revision": null,
192
+ "chunk_size": 100,
193
+ "n_action_steps": 100,
194
+ "normalization_mapping": {
195
+ "VISUAL": "MEAN_STD",
196
+ "STATE": "MEAN_STD",
197
+ "ACTION": "MEAN_STD"
198
+ },
199
+ "vision_backbone": "resnet18",
200
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
201
+ "replace_final_stride_with_dilation": false,
202
+ "pre_norm": false,
203
+ "dim_model": 512,
204
+ "n_heads": 8,
205
+ "dim_feedforward": 3200,
206
+ "feedforward_activation": "relu",
207
+ "n_encoder_layers": 4,
208
+ "n_decoder_layers": 1,
209
+ "use_vae": true,
210
+ "latent_dim": 32,
211
+ "n_vae_encoder_layers": 4,
212
+ "temporal_ensemble_coeff": null,
213
+ "dropout": 0.1,
214
+ "kl_weight": 10.0,
215
+ "optimizer_lr": 1e-05,
216
+ "optimizer_weight_decay": 0.0001,
217
+ "optimizer_lr_backbone": 1e-05
218
+ },
219
+ "reward_model": null,
220
+ "output_dir": "outputs/train/act_obj_t2_nall_s3",
221
+ "job_name": "act_obj_t2_nall_s3",
222
+ "resume": false,
223
+ "seed": 3000,
224
+ "cudnn_deterministic": false,
225
+ "num_workers": 4,
226
+ "batch_size": 8,
227
+ "prefetch_factor": 4,
228
+ "persistent_workers": true,
229
+ "dataloader_multiprocessing_context": "spawn",
230
+ "steps": 10000,
231
+ "env_eval_freq": 20000,
232
+ "log_freq": 200,
233
+ "eval_steps": 0,
234
+ "max_eval_samples": 0,
235
+ "tolerance_s": 0.0001,
236
+ "save_checkpoint": true,
237
+ "save_freq": 2000,
238
+ "checkpoint_format": "safetensors",
239
+ "use_policy_training_preset": true,
240
+ "optimizer": {
241
+ "type": "adamw",
242
+ "lr": 1e-05,
243
+ "weight_decay": 0.0001,
244
+ "grad_clip_norm": 10.0,
245
+ "betas": [
246
+ 0.9,
247
+ 0.999
248
+ ],
249
+ "eps": 1e-08
250
+ },
251
+ "scheduler": null,
252
+ "parallelism": {
253
+ "dp_replicate": 1,
254
+ "dp_shard": 1,
255
+ "context_parallel": {
256
+ "ring_degree": 1,
257
+ "ulysses_degree": 1
258
+ },
259
+ "cfg_parallel": 1
260
+ },
261
+ "accelerator": {
262
+ "mixed_precision": "no",
263
+ "gradient_accumulation": {
264
+ "steps": 1
265
+ },
266
+ "grad_scaler": {
267
+ "init_scale": 65536.0,
268
+ "growth_factor": 2.0,
269
+ "backoff_factor": 0.5,
270
+ "growth_interval": 2000
271
+ },
272
+ "fsdp": {
273
+ "reshard_after_forward": true,
274
+ "wrap_modules": null,
275
+ "min_num_params": null,
276
+ "cpu_offload": false,
277
+ "ignored_modules": null
278
+ },
279
+ "ddp": {
280
+ "find_unused_parameters": true,
281
+ "gradient_as_bucket_view": false,
282
+ "static_graph": false
283
+ },
284
+ "compile": {
285
+ "enabled": false,
286
+ "backend": "inductor",
287
+ "mode": null,
288
+ "regional": true
289
+ },
290
+ "activation_checkpointing": {
291
+ "mode": "none"
292
+ }
293
+ },
294
+ "eval": {
295
+ "n_episodes": 50,
296
+ "batch_size": 8,
297
+ "use_async_envs": true,
298
+ "recording": false,
299
+ "recording_repo_id": null,
300
+ "recording_private": false
301
+ },
302
+ "ema": {
303
+ "enable": false,
304
+ "decay": null,
305
+ "update_after_step": 0,
306
+ "inv_gamma": 1.0,
307
+ "power": 0.75,
308
+ "min_decay": 0.0,
309
+ "max_decay": 0.9999,
310
+ "use_for_eval": true
311
+ },
312
+ "wandb": {
313
+ "enable": true,
314
+ "disable_artifact": true,
315
+ "project": "lerobot",
316
+ "entity": null,
317
+ "notes": null,
318
+ "run_id": "veyag594",
319
+ "resume": null,
320
+ "mode": null,
321
+ "console": "wrap",
322
+ "console_multipart": false,
323
+ "console_chunk_max_seconds": 0,
324
+ "add_tags": true
325
+ },
326
+ "peft": null,
327
+ "job": {
328
+ "target": null,
329
+ "image": "huggingface/lerobot-gpu:latest",
330
+ "timeout": "2d",
331
+ "detach": false,
332
+ "tags": []
333
+ },
334
+ "save_checkpoint_to_hub": false,
335
+ "sample_weighting": null,
336
+ "rename_map": {},
337
+ "checkpoint_path": null
338
+ }
checkpoints/010000/pretrained_model/config.json ADDED
@@ -0,0 +1,73 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.images.image": {
6
+ "type": "VISUAL",
7
+ "shape": [
8
+ 3,
9
+ 256,
10
+ 256
11
+ ]
12
+ },
13
+ "observation.images.image2": {
14
+ "type": "VISUAL",
15
+ "shape": [
16
+ 3,
17
+ 256,
18
+ 256
19
+ ]
20
+ },
21
+ "observation.state": {
22
+ "type": "STATE",
23
+ "shape": [
24
+ 8
25
+ ]
26
+ }
27
+ },
28
+ "output_features": {
29
+ "action": {
30
+ "type": "ACTION",
31
+ "shape": [
32
+ 7
33
+ ]
34
+ }
35
+ },
36
+ "device": "cuda",
37
+ "dtype": null,
38
+ "use_amp": false,
39
+ "use_peft": false,
40
+ "push_to_hub": false,
41
+ "repo_id": null,
42
+ "private": null,
43
+ "tags": null,
44
+ "license": null,
45
+ "pretrained_path": null,
46
+ "pretrained_revision": null,
47
+ "chunk_size": 100,
48
+ "n_action_steps": 100,
49
+ "normalization_mapping": {
50
+ "VISUAL": "MEAN_STD",
51
+ "STATE": "MEAN_STD",
52
+ "ACTION": "MEAN_STD"
53
+ },
54
+ "vision_backbone": "resnet18",
55
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
56
+ "replace_final_stride_with_dilation": false,
57
+ "pre_norm": false,
58
+ "dim_model": 512,
59
+ "n_heads": 8,
60
+ "dim_feedforward": 3200,
61
+ "feedforward_activation": "relu",
62
+ "n_encoder_layers": 4,
63
+ "n_decoder_layers": 1,
64
+ "use_vae": true,
65
+ "latent_dim": 32,
66
+ "n_vae_encoder_layers": 4,
67
+ "temporal_ensemble_coeff": null,
68
+ "dropout": 0.1,
69
+ "kl_weight": 10.0,
70
+ "optimizer_lr": 1e-05,
71
+ "optimizer_weight_decay": 0.0001,
72
+ "optimizer_lr_backbone": 1e-05
73
+ }
checkpoints/010000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a1e4eb74331b00123924d4512f508dbfc86d326e391771f0d8f43740c482b843
3
+ size 206712060
checkpoints/010000/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
+ 7
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/010000/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:a002c0df7f79c5b169c5a899ad151d4ea1bed246c7d82bd93ed1556558d517a9
3
+ size 7668
checkpoints/010000/pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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.images.image": {
27
+ "type": "VISUAL",
28
+ "shape": [
29
+ 3,
30
+ 256,
31
+ 256
32
+ ]
33
+ },
34
+ "observation.images.image2": {
35
+ "type": "VISUAL",
36
+ "shape": [
37
+ 3,
38
+ 256,
39
+ 256
40
+ ]
41
+ },
42
+ "observation.state": {
43
+ "type": "STATE",
44
+ "shape": [
45
+ 8
46
+ ]
47
+ },
48
+ "action": {
49
+ "type": "ACTION",
50
+ "shape": [
51
+ 7
52
+ ]
53
+ }
54
+ },
55
+ "norm_map": {
56
+ "VISUAL": "MEAN_STD",
57
+ "STATE": "MEAN_STD",
58
+ "ACTION": "MEAN_STD"
59
+ }
60
+ },
61
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
62
+ }
63
+ ]
64
+ }
checkpoints/010000/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:f98234b21ce8ffacf1b86657f3cf8e24ac6c31ebcd6a3b83cecd484439674306
3
+ size 7676
checkpoints/010000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,338 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "lerobot/libero",
4
+ "repo_type": "dataset",
5
+ "root": null,
6
+ "episodes": [
7
+ 819,
8
+ 827,
9
+ 828,
10
+ 844,
11
+ 855,
12
+ 861,
13
+ 872,
14
+ 873,
15
+ 881,
16
+ 884,
17
+ 907,
18
+ 914,
19
+ 917,
20
+ 921,
21
+ 927,
22
+ 938,
23
+ 939,
24
+ 958,
25
+ 960,
26
+ 961,
27
+ 994,
28
+ 999,
29
+ 1012,
30
+ 1014,
31
+ 1026,
32
+ 1052,
33
+ 1059,
34
+ 1063,
35
+ 1076,
36
+ 1088,
37
+ 1091,
38
+ 1113,
39
+ 1115,
40
+ 1118,
41
+ 1124,
42
+ 1145,
43
+ 1158,
44
+ 1178,
45
+ 1183,
46
+ 1185,
47
+ 1186,
48
+ 1212,
49
+ 1215,
50
+ 1220,
51
+ 1238
52
+ ],
53
+ "exclude_episodes": null,
54
+ "image_transforms": {
55
+ "enable": false,
56
+ "backend": "dataloader",
57
+ "gpu_compile": true,
58
+ "gpu_chunk_size": 32,
59
+ "max_num_transforms": 3,
60
+ "random_order": false,
61
+ "tfs": {
62
+ "brightness": {
63
+ "weight": 1.0,
64
+ "type": "ColorJitter",
65
+ "kwargs": {
66
+ "brightness": [
67
+ 0.8,
68
+ 1.2
69
+ ]
70
+ }
71
+ },
72
+ "contrast": {
73
+ "weight": 1.0,
74
+ "type": "ColorJitter",
75
+ "kwargs": {
76
+ "contrast": [
77
+ 0.8,
78
+ 1.2
79
+ ]
80
+ }
81
+ },
82
+ "saturation": {
83
+ "weight": 1.0,
84
+ "type": "ColorJitter",
85
+ "kwargs": {
86
+ "saturation": [
87
+ 0.5,
88
+ 1.5
89
+ ]
90
+ }
91
+ },
92
+ "hue": {
93
+ "weight": 1.0,
94
+ "type": "ColorJitter",
95
+ "kwargs": {
96
+ "hue": [
97
+ -0.05,
98
+ 0.05
99
+ ]
100
+ }
101
+ },
102
+ "sharpness": {
103
+ "weight": 1.0,
104
+ "type": "SharpnessJitter",
105
+ "kwargs": {
106
+ "sharpness": [
107
+ 0.5,
108
+ 1.5
109
+ ]
110
+ }
111
+ },
112
+ "affine": {
113
+ "weight": 1.0,
114
+ "type": "RandomAffine",
115
+ "kwargs": {
116
+ "degrees": [
117
+ -5.0,
118
+ 5.0
119
+ ],
120
+ "translate": [
121
+ 0.05,
122
+ 0.05
123
+ ]
124
+ }
125
+ }
126
+ }
127
+ },
128
+ "revision": "a1aaacb7f6cd6ee5fb43120f673cebb0cfea7dd4",
129
+ "use_imagenet_stats": true,
130
+ "video_backend": "torchcodec",
131
+ "return_uint8": false,
132
+ "depth_output_unit": "mm",
133
+ "streaming": false,
134
+ "streaming_episode_pool_size": 32,
135
+ "streaming_sampling_strategy": "remaining",
136
+ "streaming_prefetch_episodes": 8,
137
+ "streaming_byte_budget_gb": 8.0,
138
+ "streaming_decode_threads": 2,
139
+ "streaming_decoded_queue_size": 8,
140
+ "streaming_native_http_connections": null,
141
+ "streaming_native_http_subranges": 1,
142
+ "video_decoder_cache_size": null,
143
+ "eval_split": 0.0
144
+ },
145
+ "env": null,
146
+ "policy": {
147
+ "type": "act",
148
+ "n_obs_steps": 1,
149
+ "input_features": {
150
+ "observation.images.image": {
151
+ "type": "VISUAL",
152
+ "shape": [
153
+ 3,
154
+ 256,
155
+ 256
156
+ ]
157
+ },
158
+ "observation.images.image2": {
159
+ "type": "VISUAL",
160
+ "shape": [
161
+ 3,
162
+ 256,
163
+ 256
164
+ ]
165
+ },
166
+ "observation.state": {
167
+ "type": "STATE",
168
+ "shape": [
169
+ 8
170
+ ]
171
+ }
172
+ },
173
+ "output_features": {
174
+ "action": {
175
+ "type": "ACTION",
176
+ "shape": [
177
+ 7
178
+ ]
179
+ }
180
+ },
181
+ "device": "cuda",
182
+ "dtype": null,
183
+ "use_amp": false,
184
+ "use_peft": false,
185
+ "push_to_hub": false,
186
+ "repo_id": null,
187
+ "private": null,
188
+ "tags": null,
189
+ "license": null,
190
+ "pretrained_path": null,
191
+ "pretrained_revision": null,
192
+ "chunk_size": 100,
193
+ "n_action_steps": 100,
194
+ "normalization_mapping": {
195
+ "VISUAL": "MEAN_STD",
196
+ "STATE": "MEAN_STD",
197
+ "ACTION": "MEAN_STD"
198
+ },
199
+ "vision_backbone": "resnet18",
200
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
201
+ "replace_final_stride_with_dilation": false,
202
+ "pre_norm": false,
203
+ "dim_model": 512,
204
+ "n_heads": 8,
205
+ "dim_feedforward": 3200,
206
+ "feedforward_activation": "relu",
207
+ "n_encoder_layers": 4,
208
+ "n_decoder_layers": 1,
209
+ "use_vae": true,
210
+ "latent_dim": 32,
211
+ "n_vae_encoder_layers": 4,
212
+ "temporal_ensemble_coeff": null,
213
+ "dropout": 0.1,
214
+ "kl_weight": 10.0,
215
+ "optimizer_lr": 1e-05,
216
+ "optimizer_weight_decay": 0.0001,
217
+ "optimizer_lr_backbone": 1e-05
218
+ },
219
+ "reward_model": null,
220
+ "output_dir": "outputs/train/act_obj_t2_nall_s3",
221
+ "job_name": "act_obj_t2_nall_s3",
222
+ "resume": false,
223
+ "seed": 3000,
224
+ "cudnn_deterministic": false,
225
+ "num_workers": 4,
226
+ "batch_size": 8,
227
+ "prefetch_factor": 4,
228
+ "persistent_workers": true,
229
+ "dataloader_multiprocessing_context": "spawn",
230
+ "steps": 10000,
231
+ "env_eval_freq": 20000,
232
+ "log_freq": 200,
233
+ "eval_steps": 0,
234
+ "max_eval_samples": 0,
235
+ "tolerance_s": 0.0001,
236
+ "save_checkpoint": true,
237
+ "save_freq": 2000,
238
+ "checkpoint_format": "safetensors",
239
+ "use_policy_training_preset": true,
240
+ "optimizer": {
241
+ "type": "adamw",
242
+ "lr": 1e-05,
243
+ "weight_decay": 0.0001,
244
+ "grad_clip_norm": 10.0,
245
+ "betas": [
246
+ 0.9,
247
+ 0.999
248
+ ],
249
+ "eps": 1e-08
250
+ },
251
+ "scheduler": null,
252
+ "parallelism": {
253
+ "dp_replicate": 1,
254
+ "dp_shard": 1,
255
+ "context_parallel": {
256
+ "ring_degree": 1,
257
+ "ulysses_degree": 1
258
+ },
259
+ "cfg_parallel": 1
260
+ },
261
+ "accelerator": {
262
+ "mixed_precision": "no",
263
+ "gradient_accumulation": {
264
+ "steps": 1
265
+ },
266
+ "grad_scaler": {
267
+ "init_scale": 65536.0,
268
+ "growth_factor": 2.0,
269
+ "backoff_factor": 0.5,
270
+ "growth_interval": 2000
271
+ },
272
+ "fsdp": {
273
+ "reshard_after_forward": true,
274
+ "wrap_modules": null,
275
+ "min_num_params": null,
276
+ "cpu_offload": false,
277
+ "ignored_modules": null
278
+ },
279
+ "ddp": {
280
+ "find_unused_parameters": true,
281
+ "gradient_as_bucket_view": false,
282
+ "static_graph": false
283
+ },
284
+ "compile": {
285
+ "enabled": false,
286
+ "backend": "inductor",
287
+ "mode": null,
288
+ "regional": true
289
+ },
290
+ "activation_checkpointing": {
291
+ "mode": "none"
292
+ }
293
+ },
294
+ "eval": {
295
+ "n_episodes": 50,
296
+ "batch_size": 8,
297
+ "use_async_envs": true,
298
+ "recording": false,
299
+ "recording_repo_id": null,
300
+ "recording_private": false
301
+ },
302
+ "ema": {
303
+ "enable": false,
304
+ "decay": null,
305
+ "update_after_step": 0,
306
+ "inv_gamma": 1.0,
307
+ "power": 0.75,
308
+ "min_decay": 0.0,
309
+ "max_decay": 0.9999,
310
+ "use_for_eval": true
311
+ },
312
+ "wandb": {
313
+ "enable": true,
314
+ "disable_artifact": true,
315
+ "project": "lerobot",
316
+ "entity": null,
317
+ "notes": null,
318
+ "run_id": "veyag594",
319
+ "resume": null,
320
+ "mode": null,
321
+ "console": "wrap",
322
+ "console_multipart": false,
323
+ "console_chunk_max_seconds": 0,
324
+ "add_tags": true
325
+ },
326
+ "peft": null,
327
+ "job": {
328
+ "target": null,
329
+ "image": "huggingface/lerobot-gpu:latest",
330
+ "timeout": "2d",
331
+ "detach": false,
332
+ "tags": []
333
+ },
334
+ "save_checkpoint_to_hub": false,
335
+ "sample_weighting": null,
336
+ "rename_map": {},
337
+ "checkpoint_path": null
338
+ }
config.json ADDED
@@ -0,0 +1,73 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.images.image": {
6
+ "type": "VISUAL",
7
+ "shape": [
8
+ 3,
9
+ 256,
10
+ 256
11
+ ]
12
+ },
13
+ "observation.images.image2": {
14
+ "type": "VISUAL",
15
+ "shape": [
16
+ 3,
17
+ 256,
18
+ 256
19
+ ]
20
+ },
21
+ "observation.state": {
22
+ "type": "STATE",
23
+ "shape": [
24
+ 8
25
+ ]
26
+ }
27
+ },
28
+ "output_features": {
29
+ "action": {
30
+ "type": "ACTION",
31
+ "shape": [
32
+ 7
33
+ ]
34
+ }
35
+ },
36
+ "device": "cuda",
37
+ "dtype": null,
38
+ "use_amp": false,
39
+ "use_peft": false,
40
+ "push_to_hub": false,
41
+ "repo_id": null,
42
+ "private": null,
43
+ "tags": null,
44
+ "license": null,
45
+ "pretrained_path": null,
46
+ "pretrained_revision": null,
47
+ "chunk_size": 100,
48
+ "n_action_steps": 100,
49
+ "normalization_mapping": {
50
+ "VISUAL": "MEAN_STD",
51
+ "STATE": "MEAN_STD",
52
+ "ACTION": "MEAN_STD"
53
+ },
54
+ "vision_backbone": "resnet18",
55
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
56
+ "replace_final_stride_with_dilation": false,
57
+ "pre_norm": false,
58
+ "dim_model": 512,
59
+ "n_heads": 8,
60
+ "dim_feedforward": 3200,
61
+ "feedforward_activation": "relu",
62
+ "n_encoder_layers": 4,
63
+ "n_decoder_layers": 1,
64
+ "use_vae": true,
65
+ "latent_dim": 32,
66
+ "n_vae_encoder_layers": 4,
67
+ "temporal_ensemble_coeff": null,
68
+ "dropout": 0.1,
69
+ "kl_weight": 10.0,
70
+ "optimizer_lr": 1e-05,
71
+ "optimizer_weight_decay": 0.0001,
72
+ "optimizer_lr_backbone": 1e-05
73
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a1e4eb74331b00123924d4512f508dbfc86d326e391771f0d8f43740c482b843
3
+ size 206712060
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
+ 7
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:a002c0df7f79c5b169c5a899ad151d4ea1bed246c7d82bd93ed1556558d517a9
3
+ size 7668
policy_preprocessor.json ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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.images.image": {
27
+ "type": "VISUAL",
28
+ "shape": [
29
+ 3,
30
+ 256,
31
+ 256
32
+ ]
33
+ },
34
+ "observation.images.image2": {
35
+ "type": "VISUAL",
36
+ "shape": [
37
+ 3,
38
+ 256,
39
+ 256
40
+ ]
41
+ },
42
+ "observation.state": {
43
+ "type": "STATE",
44
+ "shape": [
45
+ 8
46
+ ]
47
+ },
48
+ "action": {
49
+ "type": "ACTION",
50
+ "shape": [
51
+ 7
52
+ ]
53
+ }
54
+ },
55
+ "norm_map": {
56
+ "VISUAL": "MEAN_STD",
57
+ "STATE": "MEAN_STD",
58
+ "ACTION": "MEAN_STD"
59
+ }
60
+ },
61
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
62
+ }
63
+ ]
64
+ }
policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f98234b21ce8ffacf1b86657f3cf8e24ac6c31ebcd6a3b83cecd484439674306
3
+ size 7676
train_config.json ADDED
@@ -0,0 +1,338 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "lerobot/libero",
4
+ "repo_type": "dataset",
5
+ "root": null,
6
+ "episodes": [
7
+ 819,
8
+ 827,
9
+ 828,
10
+ 844,
11
+ 855,
12
+ 861,
13
+ 872,
14
+ 873,
15
+ 881,
16
+ 884,
17
+ 907,
18
+ 914,
19
+ 917,
20
+ 921,
21
+ 927,
22
+ 938,
23
+ 939,
24
+ 958,
25
+ 960,
26
+ 961,
27
+ 994,
28
+ 999,
29
+ 1012,
30
+ 1014,
31
+ 1026,
32
+ 1052,
33
+ 1059,
34
+ 1063,
35
+ 1076,
36
+ 1088,
37
+ 1091,
38
+ 1113,
39
+ 1115,
40
+ 1118,
41
+ 1124,
42
+ 1145,
43
+ 1158,
44
+ 1178,
45
+ 1183,
46
+ 1185,
47
+ 1186,
48
+ 1212,
49
+ 1215,
50
+ 1220,
51
+ 1238
52
+ ],
53
+ "exclude_episodes": null,
54
+ "image_transforms": {
55
+ "enable": false,
56
+ "backend": "dataloader",
57
+ "gpu_compile": true,
58
+ "gpu_chunk_size": 32,
59
+ "max_num_transforms": 3,
60
+ "random_order": false,
61
+ "tfs": {
62
+ "brightness": {
63
+ "weight": 1.0,
64
+ "type": "ColorJitter",
65
+ "kwargs": {
66
+ "brightness": [
67
+ 0.8,
68
+ 1.2
69
+ ]
70
+ }
71
+ },
72
+ "contrast": {
73
+ "weight": 1.0,
74
+ "type": "ColorJitter",
75
+ "kwargs": {
76
+ "contrast": [
77
+ 0.8,
78
+ 1.2
79
+ ]
80
+ }
81
+ },
82
+ "saturation": {
83
+ "weight": 1.0,
84
+ "type": "ColorJitter",
85
+ "kwargs": {
86
+ "saturation": [
87
+ 0.5,
88
+ 1.5
89
+ ]
90
+ }
91
+ },
92
+ "hue": {
93
+ "weight": 1.0,
94
+ "type": "ColorJitter",
95
+ "kwargs": {
96
+ "hue": [
97
+ -0.05,
98
+ 0.05
99
+ ]
100
+ }
101
+ },
102
+ "sharpness": {
103
+ "weight": 1.0,
104
+ "type": "SharpnessJitter",
105
+ "kwargs": {
106
+ "sharpness": [
107
+ 0.5,
108
+ 1.5
109
+ ]
110
+ }
111
+ },
112
+ "affine": {
113
+ "weight": 1.0,
114
+ "type": "RandomAffine",
115
+ "kwargs": {
116
+ "degrees": [
117
+ -5.0,
118
+ 5.0
119
+ ],
120
+ "translate": [
121
+ 0.05,
122
+ 0.05
123
+ ]
124
+ }
125
+ }
126
+ }
127
+ },
128
+ "revision": "a1aaacb7f6cd6ee5fb43120f673cebb0cfea7dd4",
129
+ "use_imagenet_stats": true,
130
+ "video_backend": "torchcodec",
131
+ "return_uint8": false,
132
+ "depth_output_unit": "mm",
133
+ "streaming": false,
134
+ "streaming_episode_pool_size": 32,
135
+ "streaming_sampling_strategy": "remaining",
136
+ "streaming_prefetch_episodes": 8,
137
+ "streaming_byte_budget_gb": 8.0,
138
+ "streaming_decode_threads": 2,
139
+ "streaming_decoded_queue_size": 8,
140
+ "streaming_native_http_connections": null,
141
+ "streaming_native_http_subranges": 1,
142
+ "video_decoder_cache_size": null,
143
+ "eval_split": 0.0
144
+ },
145
+ "env": null,
146
+ "policy": {
147
+ "type": "act",
148
+ "n_obs_steps": 1,
149
+ "input_features": {
150
+ "observation.images.image": {
151
+ "type": "VISUAL",
152
+ "shape": [
153
+ 3,
154
+ 256,
155
+ 256
156
+ ]
157
+ },
158
+ "observation.images.image2": {
159
+ "type": "VISUAL",
160
+ "shape": [
161
+ 3,
162
+ 256,
163
+ 256
164
+ ]
165
+ },
166
+ "observation.state": {
167
+ "type": "STATE",
168
+ "shape": [
169
+ 8
170
+ ]
171
+ }
172
+ },
173
+ "output_features": {
174
+ "action": {
175
+ "type": "ACTION",
176
+ "shape": [
177
+ 7
178
+ ]
179
+ }
180
+ },
181
+ "device": "cuda",
182
+ "dtype": null,
183
+ "use_amp": false,
184
+ "use_peft": false,
185
+ "push_to_hub": false,
186
+ "repo_id": null,
187
+ "private": null,
188
+ "tags": null,
189
+ "license": null,
190
+ "pretrained_path": null,
191
+ "pretrained_revision": null,
192
+ "chunk_size": 100,
193
+ "n_action_steps": 100,
194
+ "normalization_mapping": {
195
+ "VISUAL": "MEAN_STD",
196
+ "STATE": "MEAN_STD",
197
+ "ACTION": "MEAN_STD"
198
+ },
199
+ "vision_backbone": "resnet18",
200
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
201
+ "replace_final_stride_with_dilation": false,
202
+ "pre_norm": false,
203
+ "dim_model": 512,
204
+ "n_heads": 8,
205
+ "dim_feedforward": 3200,
206
+ "feedforward_activation": "relu",
207
+ "n_encoder_layers": 4,
208
+ "n_decoder_layers": 1,
209
+ "use_vae": true,
210
+ "latent_dim": 32,
211
+ "n_vae_encoder_layers": 4,
212
+ "temporal_ensemble_coeff": null,
213
+ "dropout": 0.1,
214
+ "kl_weight": 10.0,
215
+ "optimizer_lr": 1e-05,
216
+ "optimizer_weight_decay": 0.0001,
217
+ "optimizer_lr_backbone": 1e-05
218
+ },
219
+ "reward_model": null,
220
+ "output_dir": "outputs/train/act_obj_t2_nall_s3",
221
+ "job_name": "act_obj_t2_nall_s3",
222
+ "resume": false,
223
+ "seed": 3000,
224
+ "cudnn_deterministic": false,
225
+ "num_workers": 4,
226
+ "batch_size": 8,
227
+ "prefetch_factor": 4,
228
+ "persistent_workers": true,
229
+ "dataloader_multiprocessing_context": "spawn",
230
+ "steps": 10000,
231
+ "env_eval_freq": 20000,
232
+ "log_freq": 200,
233
+ "eval_steps": 0,
234
+ "max_eval_samples": 0,
235
+ "tolerance_s": 0.0001,
236
+ "save_checkpoint": true,
237
+ "save_freq": 2000,
238
+ "checkpoint_format": "safetensors",
239
+ "use_policy_training_preset": true,
240
+ "optimizer": {
241
+ "type": "adamw",
242
+ "lr": 1e-05,
243
+ "weight_decay": 0.0001,
244
+ "grad_clip_norm": 10.0,
245
+ "betas": [
246
+ 0.9,
247
+ 0.999
248
+ ],
249
+ "eps": 1e-08
250
+ },
251
+ "scheduler": null,
252
+ "parallelism": {
253
+ "dp_replicate": 1,
254
+ "dp_shard": 1,
255
+ "context_parallel": {
256
+ "ring_degree": 1,
257
+ "ulysses_degree": 1
258
+ },
259
+ "cfg_parallel": 1
260
+ },
261
+ "accelerator": {
262
+ "mixed_precision": "no",
263
+ "gradient_accumulation": {
264
+ "steps": 1
265
+ },
266
+ "grad_scaler": {
267
+ "init_scale": 65536.0,
268
+ "growth_factor": 2.0,
269
+ "backoff_factor": 0.5,
270
+ "growth_interval": 2000
271
+ },
272
+ "fsdp": {
273
+ "reshard_after_forward": true,
274
+ "wrap_modules": null,
275
+ "min_num_params": null,
276
+ "cpu_offload": false,
277
+ "ignored_modules": null
278
+ },
279
+ "ddp": {
280
+ "find_unused_parameters": true,
281
+ "gradient_as_bucket_view": false,
282
+ "static_graph": false
283
+ },
284
+ "compile": {
285
+ "enabled": false,
286
+ "backend": "inductor",
287
+ "mode": null,
288
+ "regional": true
289
+ },
290
+ "activation_checkpointing": {
291
+ "mode": "none"
292
+ }
293
+ },
294
+ "eval": {
295
+ "n_episodes": 50,
296
+ "batch_size": 8,
297
+ "use_async_envs": true,
298
+ "recording": false,
299
+ "recording_repo_id": null,
300
+ "recording_private": false
301
+ },
302
+ "ema": {
303
+ "enable": false,
304
+ "decay": null,
305
+ "update_after_step": 0,
306
+ "inv_gamma": 1.0,
307
+ "power": 0.75,
308
+ "min_decay": 0.0,
309
+ "max_decay": 0.9999,
310
+ "use_for_eval": true
311
+ },
312
+ "wandb": {
313
+ "enable": true,
314
+ "disable_artifact": true,
315
+ "project": "lerobot",
316
+ "entity": null,
317
+ "notes": null,
318
+ "run_id": "veyag594",
319
+ "resume": null,
320
+ "mode": null,
321
+ "console": "wrap",
322
+ "console_multipart": false,
323
+ "console_chunk_max_seconds": 0,
324
+ "add_tags": true
325
+ },
326
+ "peft": null,
327
+ "job": {
328
+ "target": null,
329
+ "image": "huggingface/lerobot-gpu:latest",
330
+ "timeout": "2d",
331
+ "detach": false,
332
+ "tags": []
333
+ },
334
+ "save_checkpoint_to_hub": false,
335
+ "sample_weighting": null,
336
+ "rename_map": {},
337
+ "checkpoint_path": null
338
+ }