Hugging Face's logo

RoboEval
/
roboeval-diffusion

Robotics
Safetensors
roboeval
diffusion
Model card Files
xet
 Community
helen9975 commited on
Commit
85e671b
·
verified ·
1 Parent(s): 8a4307e

LiftPot: step 005000 weights

Browse files
Files changed (7) hide show
  1. LiftPot/config.json +99 -0
  2. LiftPot/model.safetensors +3 -0
  3. LiftPot/policy_postprocessor.json +32 -0
  4. LiftPot/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  5. LiftPot/policy_preprocessor.json +72 -0
  6. LiftPot/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  7. LiftPot/train_config.json +410 -0
LiftPot/config.json ADDED
@@ -0,0 +1,99 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "diffusion",
3
+ "n_obs_steps": 2,
4
+ "input_features": {
5
+ "observation.images.cam_head": {
6
+ "type": "VISUAL",
7
+ "shape": [
8
+ 3,
9
+ 256,
10
+ 256
11
+ ]
12
+ },
13
+ "observation.images.cam_left_wrist": {
14
+ "type": "VISUAL",
15
+ "shape": [
16
+ 3,
17
+ 256,
18
+ 256
19
+ ]
20
+ },
21
+ "observation.images.cam_right_wrist": {
22
+ "type": "VISUAL",
23
+ "shape": [
24
+ 3,
25
+ 256,
26
+ 256
27
+ ]
28
+ },
29
+ "observation.state": {
30
+ "type": "STATE",
31
+ "shape": [
32
+ 16
33
+ ]
34
+ }
35
+ },
36
+ "output_features": {
37
+ "action": {
38
+ "type": "ACTION",
39
+ "shape": [
40
+ 14
41
+ ]
42
+ }
43
+ },
44
+ "device": "cuda",
45
+ "use_amp": false,
46
+ "use_peft": false,
47
+ "push_to_hub": false,
48
+ "repo_id": null,
49
+ "private": null,
50
+ "tags": null,
51
+ "license": null,
52
+ "pretrained_path": null,
53
+ "horizon": 16,
54
+ "n_action_steps": 8,
55
+ "normalization_mapping": {
56
+ "VISUAL": "MEAN_STD",
57
+ "STATE": "MIN_MAX",
58
+ "ACTION": "MIN_MAX"
59
+ },
60
+ "drop_n_last_frames": 7,
61
+ "vision_backbone": "resnet18",
62
+ "crop_shape": [
63
+ 84,
64
+ 84
65
+ ],
66
+ "crop_is_random": true,
67
+ "pretrained_backbone_weights": null,
68
+ "use_group_norm": true,
69
+ "spatial_softmax_num_keypoints": 32,
70
+ "use_separate_rgb_encoder_per_camera": false,
71
+ "down_dims": [
72
+ 512,
73
+ 1024,
74
+ 2048
75
+ ],
76
+ "kernel_size": 5,
77
+ "n_groups": 8,
78
+ "diffusion_step_embed_dim": 128,
79
+ "use_film_scale_modulation": true,
80
+ "noise_scheduler_type": "DDPM",
81
+ "num_train_timesteps": 100,
82
+ "beta_schedule": "squaredcos_cap_v2",
83
+ "beta_start": 0.0001,
84
+ "beta_end": 0.02,
85
+ "prediction_type": "epsilon",
86
+ "clip_sample": true,
87
+ "clip_sample_range": 1.0,
88
+ "num_inference_steps": null,
89
+ "do_mask_loss_for_padding": false,
90
+ "optimizer_lr": 0.0001,
91
+ "optimizer_betas": [
92
+ 0.95,
93
+ 0.999
94
+ ],
95
+ "optimizer_eps": 1e-08,
96
+ "optimizer_weight_decay": 1e-06,
97
+ "scheduler_name": "cosine",
98
+ "scheduler_warmup_steps": 500
99
+ }
LiftPot/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:92e8cd1ccb956a62caf6eac27394a1a469d75162b3f58d24afbb6c16f4c166e3
3
+ size 1083604936
LiftPot/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
+ 14
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MIN_MAX",
19
+ "ACTION": "MIN_MAX"
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
+ }
LiftPot/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ce357734e4942a37891e12d1d1d546efa14f70d156003dd33255010a73c28c0c
3
+ size 16036
LiftPot/policy_preprocessor.json ADDED
@@ -0,0 +1,72 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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.cam_head": {
27
+ "type": "VISUAL",
28
+ "shape": [
29
+ 3,
30
+ 256,
31
+ 256
32
+ ]
33
+ },
34
+ "observation.images.cam_left_wrist": {
35
+ "type": "VISUAL",
36
+ "shape": [
37
+ 3,
38
+ 256,
39
+ 256
40
+ ]
41
+ },
42
+ "observation.images.cam_right_wrist": {
43
+ "type": "VISUAL",
44
+ "shape": [
45
+ 3,
46
+ 256,
47
+ 256
48
+ ]
49
+ },
50
+ "observation.state": {
51
+ "type": "STATE",
52
+ "shape": [
53
+ 16
54
+ ]
55
+ },
56
+ "action": {
57
+ "type": "ACTION",
58
+ "shape": [
59
+ 14
60
+ ]
61
+ }
62
+ },
63
+ "norm_map": {
64
+ "VISUAL": "MEAN_STD",
65
+ "STATE": "MIN_MAX",
66
+ "ACTION": "MIN_MAX"
67
+ }
68
+ },
69
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
70
+ }
71
+ ]
72
+ }
LiftPot/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ce357734e4942a37891e12d1d1d546efa14f70d156003dd33255010a73c28c0c
3
+ size 16036
LiftPot/train_config.json ADDED
@@ -0,0 +1,410 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "roboeval_ee_delta_20hz_v3_merged",
4
+ "root": "/weka/helenw/data/huggingface/lerobot/roboeval_ee_delta_20hz_v3_merged",
5
+ "episodes": [
6
+ 408,
7
+ 409,
8
+ 410,
9
+ 411,
10
+ 412,
11
+ 413,
12
+ 414,
13
+ 415,
14
+ 416,
15
+ 417,
16
+ 418,
17
+ 419,
18
+ 420,
19
+ 421,
20
+ 422,
21
+ 423,
22
+ 424,
23
+ 425,
24
+ 426,
25
+ 427,
26
+ 428,
27
+ 429,
28
+ 430,
29
+ 431,
30
+ 432,
31
+ 433,
32
+ 434,
33
+ 435,
34
+ 436,
35
+ 437,
36
+ 438,
37
+ 439,
38
+ 440,
39
+ 441,
40
+ 442,
41
+ 443,
42
+ 444,
43
+ 445,
44
+ 446,
45
+ 447,
46
+ 448,
47
+ 449,
48
+ 450,
49
+ 451,
50
+ 452,
51
+ 453,
52
+ 454,
53
+ 455,
54
+ 456,
55
+ 457,
56
+ 458,
57
+ 459,
58
+ 460,
59
+ 461,
60
+ 462,
61
+ 463,
62
+ 464,
63
+ 465,
64
+ 466,
65
+ 467,
66
+ 468,
67
+ 469,
68
+ 470,
69
+ 471,
70
+ 472,
71
+ 473,
72
+ 474,
73
+ 475,
74
+ 476,
75
+ 477,
76
+ 478,
77
+ 479,
78
+ 480,
79
+ 481,
80
+ 482,
81
+ 483,
82
+ 484,
83
+ 485,
84
+ 486,
85
+ 487,
86
+ 488,
87
+ 489,
88
+ 490,
89
+ 491,
90
+ 492,
91
+ 493,
92
+ 494,
93
+ 495,
94
+ 496,
95
+ 497,
96
+ 498,
97
+ 499,
98
+ 500,
99
+ 501,
100
+ 502,
101
+ 503,
102
+ 504,
103
+ 505,
104
+ 506,
105
+ 507,
106
+ 508,
107
+ 509,
108
+ 510,
109
+ 511,
110
+ 512,
111
+ 513,
112
+ 514,
113
+ 515,
114
+ 516,
115
+ 517,
116
+ 518,
117
+ 519,
118
+ 520,
119
+ 521,
120
+ 522,
121
+ 523,
122
+ 524,
123
+ 525,
124
+ 526,
125
+ 527,
126
+ 528,
127
+ 529,
128
+ 530,
129
+ 531,
130
+ 532,
131
+ 533,
132
+ 534,
133
+ 535,
134
+ 536,
135
+ 537,
136
+ 538,
137
+ 539,
138
+ 540,
139
+ 541,
140
+ 542,
141
+ 543,
142
+ 544,
143
+ 545,
144
+ 546,
145
+ 547,
146
+ 548,
147
+ 549,
148
+ 550,
149
+ 551,
150
+ 552,
151
+ 553,
152
+ 554,
153
+ 555,
154
+ 556,
155
+ 557,
156
+ 558,
157
+ 559,
158
+ 560,
159
+ 561,
160
+ 562,
161
+ 563,
162
+ 564,
163
+ 565,
164
+ 566,
165
+ 567,
166
+ 568,
167
+ 569,
168
+ 570,
169
+ 571,
170
+ 572,
171
+ 573,
172
+ 574,
173
+ 575,
174
+ 576,
175
+ 577,
176
+ 578,
177
+ 579,
178
+ 580,
179
+ 581,
180
+ 582,
181
+ 583
182
+ ],
183
+ "image_transforms": {
184
+ "enable": true,
185
+ "max_num_transforms": 3,
186
+ "random_order": false,
187
+ "tfs": {
188
+ "brightness": {
189
+ "weight": 1.0,
190
+ "type": "ColorJitter",
191
+ "kwargs": {
192
+ "brightness": [
193
+ 0.8,
194
+ 1.2
195
+ ]
196
+ }
197
+ },
198
+ "contrast": {
199
+ "weight": 1.0,
200
+ "type": "ColorJitter",
201
+ "kwargs": {
202
+ "contrast": [
203
+ 0.8,
204
+ 1.2
205
+ ]
206
+ }
207
+ },
208
+ "saturation": {
209
+ "weight": 1.0,
210
+ "type": "ColorJitter",
211
+ "kwargs": {
212
+ "saturation": [
213
+ 0.5,
214
+ 1.5
215
+ ]
216
+ }
217
+ },
218
+ "hue": {
219
+ "weight": 1.0,
220
+ "type": "ColorJitter",
221
+ "kwargs": {
222
+ "hue": [
223
+ -0.05,
224
+ 0.05
225
+ ]
226
+ }
227
+ },
228
+ "sharpness": {
229
+ "weight": 1.0,
230
+ "type": "SharpnessJitter",
231
+ "kwargs": {
232
+ "sharpness": [
233
+ 0.5,
234
+ 1.5
235
+ ]
236
+ }
237
+ },
238
+ "affine": {
239
+ "weight": 1.0,
240
+ "type": "RandomAffine",
241
+ "kwargs": {
242
+ "degrees": [
243
+ -5.0,
244
+ 5.0
245
+ ],
246
+ "translate": [
247
+ 0.05,
248
+ 0.05
249
+ ]
250
+ }
251
+ }
252
+ }
253
+ },
254
+ "revision": "local",
255
+ "use_imagenet_stats": true,
256
+ "video_backend": "torchcodec",
257
+ "streaming": false
258
+ },
259
+ "env": null,
260
+ "policy": {
261
+ "type": "diffusion",
262
+ "n_obs_steps": 2,
263
+ "input_features": {
264
+ "observation.images.cam_head": {
265
+ "type": "VISUAL",
266
+ "shape": [
267
+ 3,
268
+ 256,
269
+ 256
270
+ ]
271
+ },
272
+ "observation.images.cam_left_wrist": {
273
+ "type": "VISUAL",
274
+ "shape": [
275
+ 3,
276
+ 256,
277
+ 256
278
+ ]
279
+ },
280
+ "observation.images.cam_right_wrist": {
281
+ "type": "VISUAL",
282
+ "shape": [
283
+ 3,
284
+ 256,
285
+ 256
286
+ ]
287
+ },
288
+ "observation.state": {
289
+ "type": "STATE",
290
+ "shape": [
291
+ 16
292
+ ]
293
+ }
294
+ },
295
+ "output_features": {
296
+ "action": {
297
+ "type": "ACTION",
298
+ "shape": [
299
+ 14
300
+ ]
301
+ }
302
+ },
303
+ "device": "cuda",
304
+ "use_amp": false,
305
+ "use_peft": false,
306
+ "push_to_hub": false,
307
+ "repo_id": null,
308
+ "private": null,
309
+ "tags": null,
310
+ "license": null,
311
+ "pretrained_path": null,
312
+ "horizon": 16,
313
+ "n_action_steps": 8,
314
+ "normalization_mapping": {
315
+ "VISUAL": "MEAN_STD",
316
+ "STATE": "MIN_MAX",
317
+ "ACTION": "MIN_MAX"
318
+ },
319
+ "drop_n_last_frames": 7,
320
+ "vision_backbone": "resnet18",
321
+ "crop_shape": [
322
+ 84,
323
+ 84
324
+ ],
325
+ "crop_is_random": true,
326
+ "pretrained_backbone_weights": null,
327
+ "use_group_norm": true,
328
+ "spatial_softmax_num_keypoints": 32,
329
+ "use_separate_rgb_encoder_per_camera": false,
330
+ "down_dims": [
331
+ 512,
332
+ 1024,
333
+ 2048
334
+ ],
335
+ "kernel_size": 5,
336
+ "n_groups": 8,
337
+ "diffusion_step_embed_dim": 128,
338
+ "use_film_scale_modulation": true,
339
+ "noise_scheduler_type": "DDPM",
340
+ "num_train_timesteps": 100,
341
+ "beta_schedule": "squaredcos_cap_v2",
342
+ "beta_start": 0.0001,
343
+ "beta_end": 0.02,
344
+ "prediction_type": "epsilon",
345
+ "clip_sample": true,
346
+ "clip_sample_range": 1.0,
347
+ "num_inference_steps": null,
348
+ "do_mask_loss_for_padding": false,
349
+ "optimizer_lr": 0.0001,
350
+ "optimizer_betas": [
351
+ 0.95,
352
+ 0.999
353
+ ],
354
+ "optimizer_eps": 1e-08,
355
+ "optimizer_weight_decay": 1e-06,
356
+ "scheduler_name": "cosine",
357
+ "scheduler_warmup_steps": 500
358
+ },
359
+ "output_dir": "/weka/helenw/outputs/diffusion_LiftPot",
360
+ "job_name": "diffusion_roboeval_v3_merged",
361
+ "resume": false,
362
+ "seed": 1000,
363
+ "num_workers": 2,
364
+ "batch_size": 256,
365
+ "steps": 5000,
366
+ "eval_freq": 20000,
367
+ "log_freq": 10,
368
+ "tolerance_s": 0.0001,
369
+ "save_checkpoint": true,
370
+ "save_freq": 1000,
371
+ "use_policy_training_preset": true,
372
+ "optimizer": {
373
+ "type": "adam",
374
+ "lr": 0.0001,
375
+ "weight_decay": 1e-06,
376
+ "grad_clip_norm": 10.0,
377
+ "betas": [
378
+ 0.95,
379
+ 0.999
380
+ ],
381
+ "eps": 1e-08
382
+ },
383
+ "scheduler": {
384
+ "type": "diffuser",
385
+ "num_warmup_steps": 500,
386
+ "name": "cosine"
387
+ },
388
+ "eval": {
389
+ "n_episodes": 50,
390
+ "batch_size": 50,
391
+ "use_async_envs": false
392
+ },
393
+ "wandb": {
394
+ "enable": true,
395
+ "disable_artifact": true,
396
+ "project": "lerobot",
397
+ "entity": null,
398
+ "notes": null,
399
+ "run_id": "jf5oi7t6",
400
+ "mode": null
401
+ },
402
+ "peft": null,
403
+ "use_rabc": false,
404
+ "rabc_progress_path": null,
405
+ "rabc_kappa": 0.01,
406
+ "rabc_epsilon": 1e-06,
407
+ "rabc_head_mode": "sparse",
408
+ "rename_map": {},
409
+ "checkpoint_path": null
410
+ }