Hugging Face's logo

SieloRobotics
/
dit_ee_cubes

Robotics
LeRobot
Safetensors
multi_task_dit
Model card Files
xet
 Community
SieloRobotics commited on
Commit
e63acda
·
verified ·
1 Parent(s): 6d06871

Upload policy

Browse files
Files changed (2) hide show
  1. config.json +124 -0
  2. model.safetensors +3 -0
config.json ADDED
@@ -0,0 +1,124 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "multi_task_dit",
3
+ "n_obs_steps": 2,
4
+ "input_features": {
5
+ "observation.images.wrist": {
6
+ "type": "VISUAL",
7
+ "shape": [
8
+ 3,
9
+ 480,
10
+ 640
11
+ ]
12
+ },
13
+ "observation.images.top": {
14
+ "type": "VISUAL",
15
+ "shape": [
16
+ 3,
17
+ 480,
18
+ 640
19
+ ]
20
+ },
21
+ "observation.state": {
22
+ "type": "STATE",
23
+ "shape": [
24
+ 10
25
+ ]
26
+ }
27
+ },
28
+ "output_features": {
29
+ "action": {
30
+ "type": "ACTION",
31
+ "shape": [
32
+ 10
33
+ ]
34
+ }
35
+ },
36
+ "device": "cuda",
37
+ "dtype": null,
38
+ "use_amp": false,
39
+ "use_peft": false,
40
+ "push_to_hub": true,
41
+ "repo_id": "SieloRobotics/dit_ee_cubes",
42
+ "private": false,
43
+ "tags": null,
44
+ "license": null,
45
+ "pretrained_path": null,
46
+ "pretrained_revision": null,
47
+ "horizon": 32,
48
+ "n_action_steps": 8,
49
+ "objective": "flow_matching",
50
+ "noise_scheduler_type": "DDPM",
51
+ "num_train_timesteps": 100,
52
+ "beta_schedule": "squaredcos_cap_v2",
53
+ "beta_start": 0.0001,
54
+ "beta_end": 0.02,
55
+ "prediction_type": "epsilon",
56
+ "clip_sample": true,
57
+ "clip_sample_range": 1.0,
58
+ "num_inference_steps": null,
59
+ "sigma_min": 0.0,
60
+ "num_integration_steps": 10,
61
+ "integration_method": "euler",
62
+ "timestep_sampling_strategy": "beta",
63
+ "timestep_sampling_s": 0.999,
64
+ "timestep_sampling_alpha": 1.5,
65
+ "timestep_sampling_beta": 1.0,
66
+ "hidden_dim": 512,
67
+ "num_layers": 6,
68
+ "num_heads": 8,
69
+ "dropout": 0.1,
70
+ "use_positional_encoding": false,
71
+ "timestep_embed_dim": 256,
72
+ "use_rope": true,
73
+ "rope_base": 10000.0,
74
+ "vision_encoder_name": "openai/clip-vit-base-patch16",
75
+ "use_separate_rgb_encoder_per_camera": true,
76
+ "vision_encoder_lr_multiplier": 0.1,
77
+ "image_resize_shape": [
78
+ 240,
79
+ 240
80
+ ],
81
+ "image_crop_shape": [
82
+ 224,
83
+ 224
84
+ ],
85
+ "image_crop_is_random": true,
86
+ "compile_model": true,
87
+ "compile_mode": null,
88
+ "use_text_conditioning": false,
89
+ "text_encoder_name": "openai/clip-vit-base-patch16",
90
+ "tokenizer_max_length": 77,
91
+ "tokenizer_padding": "max_length",
92
+ "tokenizer_padding_side": "right",
93
+ "tokenizer_truncation": true,
94
+ "normalization_mapping": {
95
+ "VISUAL": "MEAN_STD",
96
+ "STATE": "QUANTILES",
97
+ "ACTION": "QUANTILES"
98
+ },
99
+ "use_relative_ee_actions": true,
100
+ "action_feature_names": [
101
+ "ee.x",
102
+ "ee.y",
103
+ "ee.z",
104
+ "ee.r6d_0",
105
+ "ee.r6d_1",
106
+ "ee.r6d_2",
107
+ "ee.r6d_3",
108
+ "ee.r6d_4",
109
+ "ee.r6d_5",
110
+ "gripper.pos"
111
+ ],
112
+ "optimizer_lr": 0.0001,
113
+ "optimizer_betas": [
114
+ 0.95,
115
+ 0.999
116
+ ],
117
+ "optimizer_eps": 1e-08,
118
+ "optimizer_weight_decay": 0.0,
119
+ "optimizer_grad_clip_norm": 1.0,
120
+ "scheduler_name": "cosine",
121
+ "scheduler_warmup_steps": 800,
122
+ "do_mask_loss_for_padding": false,
123
+ "drop_n_last_frames": 23
124
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0254ad1d4880abb76d4c0397c06493b6a5662bdceb42c536826a59c182b30e7b
3
+ size 1010086976