Instructions to use SieloRobotics/dit_ee_cubes_ep80 with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use SieloRobotics/dit_ee_cubes_ep80 with LeRobot:
# No code snippets available yet for this library. # To use this model, check the repository files and the library's documentation. # Want to help? PRs adding snippets are welcome at: # https://github.com/huggingface/huggingface.js
- Notebooks
- Google Colab
- Kaggle
Download train_config.json from SieloRobotics/dit_ee_cubes_ep80: direct link, hf CLI and curl.
- Browser
- Download file 11.2 kB
-
https://huggingface.co/SieloRobotics/dit_ee_cubes_ep80/resolve/main/train_config.json
- Command line
-
hf download hf://SieloRobotics/dit_ee_cubes_ep80/train_config.json
-
curl -L -o train_config.json https://huggingface.co/SieloRobotics/dit_ee_cubes_ep80/resolve/main/train_config.json
11.2 kB
| { | |
| "dataset": { | |
| "repo_id": "SieloRobotics/rebot_pick_place_ee", | |
| "repo_type": "dataset", | |
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| "episodes": null, | |
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| "image_transforms": { | |
| "enable": false, | |
| "backend": "dataloader", | |
| "gpu_compile": true, | |
| "gpu_chunk_size": 32, | |
| "max_num_transforms": 3, | |
| "random_order": false, | |
| "tfs": { | |
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| "affine": { | |
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| "use_imagenet_stats": true, | |
| "video_backend": "torchcodec", | |
| "return_uint8": true, | |
| "depth_output_unit": "mm", | |
| "streaming": false, | |
| "streaming_episode_pool_size": null, | |
| "streaming_sampling_strategy": "remaining", | |
| "streaming_prefetch_episodes": 8, | |
| "streaming_byte_budget_gb": 8.0, | |
| "streaming_decode_threads": 2, | |
| "streaming_decoded_queue_size": 8, | |
| "streaming_native_http_connections": null, | |
| "streaming_native_http_subranges": 1, | |
| "video_decoder_cache_size": null, | |
| "eval_split": 0.02 | |
| }, | |
| "env": null, | |
| "policy": { | |
| "type": "multi_task_dit", | |
| "n_obs_steps": 2, | |
| "input_features": { | |
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| "device": "cuda", | |
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| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": true, | |
| "repo_id": "SieloRobotics/dit_ee_cubes_ep80", | |
| "private": false, | |
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| "horizon": 32, | |
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| "objective": "flow_matching", | |
| "noise_scheduler_type": "DDPM", | |
| "num_train_timesteps": 100, | |
| "beta_schedule": "squaredcos_cap_v2", | |
| "beta_start": 0.0001, | |
| "beta_end": 0.02, | |
| "prediction_type": "epsilon", | |
| "clip_sample": true, | |
| "clip_sample_range": 1.0, | |
| "num_inference_steps": null, | |
| "sigma_min": 0.0, | |
| "num_integration_steps": 10, | |
| "integration_method": "euler", | |
| "timestep_sampling_strategy": "beta", | |
| "timestep_sampling_s": 0.999, | |
| "timestep_sampling_alpha": 1.5, | |
| "timestep_sampling_beta": 1.0, | |
| "hidden_dim": 512, | |
| "num_layers": 6, | |
| "num_heads": 8, | |
| "dropout": 0.1, | |
| "use_positional_encoding": false, | |
| "timestep_embed_dim": 256, | |
| "use_rope": true, | |
| "rope_base": 10000.0, | |
| "vision_encoder_name": "openai/clip-vit-base-patch16", | |
| "use_separate_rgb_encoder_per_camera": true, | |
| "vision_encoder_lr_multiplier": 0.1, | |
| "image_resize_shape": [ | |
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| "image_crop_shape": [ | |
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| "image_crop_is_random": true, | |
| "compile_model": true, | |
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| "use_text_conditioning": false, | |
| "text_encoder_name": "openai/clip-vit-base-patch16", | |
| "tokenizer_max_length": 77, | |
| "tokenizer_padding": "max_length", | |
| "tokenizer_padding_side": "right", | |
| "tokenizer_truncation": true, | |
| "normalization_mapping": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "QUANTILES", | |
| "ACTION": "QUANTILES" | |
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| "use_relative_ee_actions": true, | |
| "action_feature_names": [ | |
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| "ee.r6d_5", | |
| "gripper.pos" | |
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| "optimizer_lr": 0.0001, | |
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| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 0.0, | |
| "optimizer_grad_clip_norm": 1.0, | |
| "scheduler_name": "cosine", | |
| "scheduler_warmup_steps": 800, | |
| "do_mask_loss_for_padding": false, | |
| "drop_n_last_frames": 23 | |
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| "reward_model": null, | |
| "output_dir": "/content/outputs/dit_ee_cubes_ep80_run_20261020_204725", | |
| "job_name": "dit_ee_cubes_ep80", | |
| "resume": false, | |
| "seed": 1000, | |
| "cudnn_deterministic": false, | |
| "num_workers": 12, | |
| "batch_size": 256, | |
| "prefetch_factor": 2, | |
| "persistent_workers": true, | |
| "dataloader_multiprocessing_context": "spawn", | |
| "steps": 40000, | |
| "env_eval_freq": 20000, | |
| "log_freq": 100, | |
| "eval_steps": 2000, | |
| "max_eval_samples": 0, | |
| "tolerance_s": 0.0001, | |
| "save_checkpoint": true, | |
| "save_freq": 2000, | |
| "checkpoint_format": "safetensors", | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
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| "eps": 1e-08 | |
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| "name": "cosine" | |
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| "backoff_factor": 0.5, | |
| "growth_interval": 2000 | |
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| "fsdp": { | |
| "reshard_after_forward": true, | |
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| "cpu_offload": false, | |
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| "ddp": { | |
| "find_unused_parameters": true, | |
| "gradient_as_bucket_view": false, | |
| "static_graph": false | |
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| "compile": { | |
| "enabled": false, | |
| "backend": "inductor", | |
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| "regional": true | |
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| "activation_checkpointing": { | |
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| }, | |
| "eval": { | |
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| "batch_size": 33, | |
| "use_async_envs": true, | |
| "recording": false, | |
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| "recording_private": false | |
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| "ema": { | |
| "enable": true, | |
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| "update_after_step": 0, | |
| "inv_gamma": 1.0, | |
| "power": 0.75, | |
| "min_decay": 0.0, | |
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| "use_for_eval": true | |
| }, | |
| "wandb": { | |
| "enable": true, | |
| "disable_artifact": true, | |
| "project": "dit_ee_cubes", | |
| "entity": null, | |
| "notes": "episodes 80-511 (0-79 excluded), otherwise as dit_ee_cubes", | |
| "run_id": "dzzxm1zm", | |
| "resume": null, | |
| "mode": null, | |
| "console": "wrap", | |
| "console_multipart": false, | |
| "console_chunk_max_seconds": 0, | |
| "add_tags": true | |
| }, | |
| "peft": null, | |
| "job": { | |
| "target": null, | |
| "image": "huggingface/lerobot-gpu:latest", | |
| "timeout": "2d", | |
| "detach": false, | |
| "tags": [] | |
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| "save_checkpoint_to_hub": false, | |
| "sample_weighting": null, | |
| "rename_map": {}, | |
| "checkpoint_path": null | |
| } |