diff --git a/small/HOI_double_desk/act_sonic_doubledesk_0529/pretrained_model/config.json b/small/HOI_double_desk/act_sonic_doubledesk_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..69f8e7d2e90fdd1cd2cd3e44cb1901c0a9904712 --- /dev/null +++ b/small/HOI_double_desk/act_sonic_doubledesk_0529/pretrained_model/config.json @@ -0,0 +1,63 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 20, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/small/HOI_double_desk/act_sonic_doubledesk_0529/pretrained_model/policy_postprocessor.json b/small/HOI_double_desk/act_sonic_doubledesk_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..bba8303252c414ba9a4815afc58dc5173ab27c5e --- /dev/null +++ b/small/HOI_double_desk/act_sonic_doubledesk_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HOI_double_desk/act_sonic_doubledesk_0529/pretrained_model/policy_preprocessor.json b/small/HOI_double_desk/act_sonic_doubledesk_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..cfd10af9e250e8f07e0a5988ec5b2c1eff02f374 --- /dev/null +++ b/small/HOI_double_desk/act_sonic_doubledesk_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HOI_double_desk/act_sonic_doubledesk_0529/pretrained_model/train_config.json b/small/HOI_double_desk/act_sonic_doubledesk_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..20cc078992d8a42314d39ff5e16bd00f1a03c4fd --- /dev/null +++ b/small/HOI_double_desk/act_sonic_doubledesk_0529/pretrained_model/train_config.json @@ -0,0 +1,154 @@ +{ + "dataset": { + "repo_id": "local/HOI_double_desk_sonic_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_double_desk/HOI_double_desk_sonic_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 20, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/HOI_double_desk/act_HOI_double_desk_sonic_refpose_v3_1", + "job_name": "act_HOI_double_desk_sonic_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "w6lvbo84", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HOI_double_desk/act_sonic_doubledesk_0529/training_state/optimizer_param_groups.json b/small/HOI_double_desk/act_sonic_doubledesk_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..33506df097b87c64b2aa15765ab89706780c0dc0 --- /dev/null +++ b/small/HOI_double_desk/act_sonic_doubledesk_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,191 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152 + ] + } +] \ No newline at end of file diff --git a/small/HOI_double_desk/act_sonic_doubledesk_0529/training_state/training_step.json b/small/HOI_double_desk/act_sonic_doubledesk_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HOI_double_desk/act_sonic_doubledesk_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HOI_double_desk/act_twist2_doubledesk_0529/pretrained_model/config.json b/small/HOI_double_desk/act_twist2_doubledesk_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..69f8e7d2e90fdd1cd2cd3e44cb1901c0a9904712 --- /dev/null +++ b/small/HOI_double_desk/act_twist2_doubledesk_0529/pretrained_model/config.json @@ -0,0 +1,63 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 20, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/small/HOI_double_desk/act_twist2_doubledesk_0529/pretrained_model/policy_postprocessor.json b/small/HOI_double_desk/act_twist2_doubledesk_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..bba8303252c414ba9a4815afc58dc5173ab27c5e --- /dev/null +++ b/small/HOI_double_desk/act_twist2_doubledesk_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HOI_double_desk/act_twist2_doubledesk_0529/pretrained_model/policy_preprocessor.json b/small/HOI_double_desk/act_twist2_doubledesk_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..cfd10af9e250e8f07e0a5988ec5b2c1eff02f374 --- /dev/null +++ b/small/HOI_double_desk/act_twist2_doubledesk_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HOI_double_desk/act_twist2_doubledesk_0529/pretrained_model/train_config.json b/small/HOI_double_desk/act_twist2_doubledesk_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7181510a10dad005fef301eaad0406aeb939bcf6 --- /dev/null +++ b/small/HOI_double_desk/act_twist2_doubledesk_0529/pretrained_model/train_config.json @@ -0,0 +1,154 @@ +{ + "dataset": { + "repo_id": "local/HOI_double_desk_twist2_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_double_desk/HOI_double_desk_twist2_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 20, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/HOI_double_desk/act_HOI_double_desk_twist2_refpose_v3_1", + "job_name": "act_HOI_double_desk_twist2_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "w9cmg8ln", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HOI_double_desk/act_twist2_doubledesk_0529/training_state/optimizer_param_groups.json b/small/HOI_double_desk/act_twist2_doubledesk_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..33506df097b87c64b2aa15765ab89706780c0dc0 --- /dev/null +++ b/small/HOI_double_desk/act_twist2_doubledesk_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,191 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152 + ] + } +] \ No newline at end of file diff --git a/small/HOI_double_desk/act_twist2_doubledesk_0529/training_state/training_step.json b/small/HOI_double_desk/act_twist2_doubledesk_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HOI_double_desk/act_twist2_doubledesk_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/pretrained_model/config.json b/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..460ea67ad033f7b6b1b2c5c9ba2175c8e1468e8d --- /dev/null +++ b/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/pretrained_model/config.json @@ -0,0 +1,87 @@ +{ + "type": "diffusion", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 24, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "resize_shape": [ + 224, + 224 + ], + "crop_ratio": 1.0, + "crop_shape": null, + "crop_is_random": true, + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "use_group_norm": false, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": false, + "down_dims": [ + 512, + 1024, + 2048 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "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, + "compile_model": false, + "compile_mode": "reduce-overhead", + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 +} \ No newline at end of file diff --git a/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/pretrained_model/policy_postprocessor.json b/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843 --- /dev/null +++ b/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/pretrained_model/policy_preprocessor.json b/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..9e1ab41ada69949b579d7350b9246d04cc832387 --- /dev/null +++ b/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/pretrained_model/train_config.json b/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..bda5b8e8eb17c6b1c57f4b0faf5beb2c52e5fa4f --- /dev/null +++ b/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/pretrained_model/train_config.json @@ -0,0 +1,182 @@ +{ + "dataset": { + "repo_id": "local/HOI_double_desk_sonic_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_double_desk/HOI_double_desk_sonic_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "diffusion", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 24, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "resize_shape": [ + 224, + 224 + ], + "crop_ratio": 1.0, + "crop_shape": null, + "crop_is_random": true, + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "use_group_norm": false, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": false, + "down_dims": [ + 512, + 1024, + 2048 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "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, + "compile_model": false, + "compile_mode": "reduce-overhead", + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/HOI_double_desk/diffusion_HOI_double_desk_sonic_refpose_v3_1", + "job_name": "diffusion_HOI_double_desk_sonic_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 0.0001, + "weight_decay": 1e-06, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 500, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "7k0uiz4o", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/training_state/optimizer_param_groups.json b/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..5ad4a0652f3e90db3740c824423694349bd048f0 --- /dev/null +++ b/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,233 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 1e-06, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211 + ] + } +] \ No newline at end of file diff --git a/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/training_state/scheduler_state.json b/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..9026ed6a39a1d91fe6d3b91e0ded64aa35ee587b --- /dev/null +++ b/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/training_state/scheduler_state.json @@ -0,0 +1,15 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/training_state/training_step.json b/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HOI_double_desk/diffusion_sonic_doubledesk_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/pretrained_model/config.json b/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..460ea67ad033f7b6b1b2c5c9ba2175c8e1468e8d --- /dev/null +++ b/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/pretrained_model/config.json @@ -0,0 +1,87 @@ +{ + "type": "diffusion", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 24, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "resize_shape": [ + 224, + 224 + ], + "crop_ratio": 1.0, + "crop_shape": null, + "crop_is_random": true, + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "use_group_norm": false, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": false, + "down_dims": [ + 512, + 1024, + 2048 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "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, + "compile_model": false, + "compile_mode": "reduce-overhead", + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 +} \ No newline at end of file diff --git a/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/pretrained_model/policy_postprocessor.json b/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843 --- /dev/null +++ b/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/pretrained_model/policy_preprocessor.json b/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..9e1ab41ada69949b579d7350b9246d04cc832387 --- /dev/null +++ b/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/pretrained_model/train_config.json b/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..efd3a896b70b3f941ca23bbe0b23e77795f09c41 --- /dev/null +++ b/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/pretrained_model/train_config.json @@ -0,0 +1,182 @@ +{ + "dataset": { + "repo_id": "local/HOI_double_desk_twist2_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_double_desk/HOI_double_desk_twist2_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "diffusion", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 24, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "resize_shape": [ + 224, + 224 + ], + "crop_ratio": 1.0, + "crop_shape": null, + "crop_is_random": true, + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "use_group_norm": false, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": false, + "down_dims": [ + 512, + 1024, + 2048 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "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, + "compile_model": false, + "compile_mode": "reduce-overhead", + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/HOI_double_desk/diffusion_HOI_double_desk_twist2_refpose_v3_1", + "job_name": "diffusion_HOI_double_desk_twist2_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 0.0001, + "weight_decay": 1e-06, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 500, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "0d9e8mjl", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/training_state/optimizer_param_groups.json b/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..5ad4a0652f3e90db3740c824423694349bd048f0 --- /dev/null +++ b/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,233 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 1e-06, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211 + ] + } +] \ No newline at end of file diff --git a/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/training_state/scheduler_state.json b/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..9026ed6a39a1d91fe6d3b91e0ded64aa35ee587b --- /dev/null +++ b/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/training_state/scheduler_state.json @@ -0,0 +1,15 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/training_state/training_step.json b/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HOI_double_desk/diffusion_twist2_doubledesk_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HOI_double_desk/mtp_sonic_doubledesk_0529/pretrained_model/config.json b/small/HOI_double_desk/mtp_sonic_doubledesk_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..dfada256f7f9c7b44506559cf87d3670f32bdad4 --- /dev/null +++ b/small/HOI_double_desk/mtp_sonic_doubledesk_0529/pretrained_model/config.json @@ -0,0 +1,94 @@ +{ + "type": "multi_task_dit", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 40, + "n_action_steps": 20, + "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": 100, + "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": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16", + "use_separate_rgb_encoder_per_camera": false, + "vision_encoder_lr_multiplier": 0.1, + "image_resize_shape": [ + 224, + 224 + ], + "image_crop_shape": null, + "image_crop_is_random": true, + "text_encoder_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/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": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "optimizer_lr": 2e-05, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 0.0, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 0, + "do_mask_loss_for_padding": false, + "drop_n_last_frames": 20 +} \ No newline at end of file diff --git a/small/HOI_double_desk/mtp_sonic_doubledesk_0529/pretrained_model/policy_postprocessor.json b/small/HOI_double_desk/mtp_sonic_doubledesk_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843 --- /dev/null +++ b/small/HOI_double_desk/mtp_sonic_doubledesk_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HOI_double_desk/mtp_sonic_doubledesk_0529/pretrained_model/policy_preprocessor.json b/small/HOI_double_desk/mtp_sonic_doubledesk_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..b93b2b34130aa01f598ea5bc191078d6b44ff217 --- /dev/null +++ b/small/HOI_double_desk/mtp_sonic_doubledesk_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,67 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "tokenizer_processor", + "config": { + "max_length": 77, + "task_key": "task", + "padding_side": "right", + "padding": "max_length", + "truncation": true, + "tokenizer_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16" + } + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HOI_double_desk/mtp_sonic_doubledesk_0529/pretrained_model/train_config.json b/small/HOI_double_desk/mtp_sonic_doubledesk_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..57b9a33c28e370bbc7c6f33965d79b3bec14d169 --- /dev/null +++ b/small/HOI_double_desk/mtp_sonic_doubledesk_0529/pretrained_model/train_config.json @@ -0,0 +1,191 @@ +{ + "dataset": { + "repo_id": "local/HOI_double_desk_sonic_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_double_desk/HOI_double_desk_sonic_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "multi_task_dit", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 40, + "n_action_steps": 20, + "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": 100, + "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": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16", + "use_separate_rgb_encoder_per_camera": false, + "vision_encoder_lr_multiplier": 0.1, + "image_resize_shape": [ + 224, + 224 + ], + "image_crop_shape": null, + "image_crop_is_random": true, + "text_encoder_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/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": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "optimizer_lr": 2e-05, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 0.0, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 0, + "do_mask_loss_for_padding": false, + "drop_n_last_frames": 20 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/small/HOI_double_desk/mtp_HOI_double_desk_sonic_refpose_v3_1", + "job_name": "mtp_HOI_double_desk_sonic_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 2e-05, + "weight_decay": 0.0, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 0, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "756759io", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": { + "observation.images.front": "observation.images.image" + }, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HOI_double_desk/mtp_sonic_doubledesk_0529/training_state/optimizer_param_groups.json b/small/HOI_double_desk/mtp_sonic_doubledesk_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a57e3337d62522ee3a323472d91b7697952111 --- /dev/null +++ b/small/HOI_double_desk/mtp_sonic_doubledesk_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,309 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 2e-05, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69 + ] + }, + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 2.0000000000000003e-06, + "params": [ + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268 + ] + } +] \ No newline at end of file diff --git a/small/HOI_double_desk/mtp_sonic_doubledesk_0529/training_state/scheduler_state.json b/small/HOI_double_desk/mtp_sonic_doubledesk_0529/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..e304355204d1e372dd6e0743a6ce3c761e87bb8f --- /dev/null +++ b/small/HOI_double_desk/mtp_sonic_doubledesk_0529/training_state/scheduler_state.json @@ -0,0 +1,18 @@ +{ + "base_lrs": [ + 2e-05, + 2.0000000000000003e-06 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0, + 0.0 + ], + "lr_lambdas": [ + null, + null + ] +} \ No newline at end of file diff --git a/small/HOI_double_desk/mtp_sonic_doubledesk_0529/training_state/training_step.json b/small/HOI_double_desk/mtp_sonic_doubledesk_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HOI_double_desk/mtp_sonic_doubledesk_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HOI_double_desk/mtp_twist2_doubledesk_0529/pretrained_model/config.json b/small/HOI_double_desk/mtp_twist2_doubledesk_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..dfada256f7f9c7b44506559cf87d3670f32bdad4 --- /dev/null +++ b/small/HOI_double_desk/mtp_twist2_doubledesk_0529/pretrained_model/config.json @@ -0,0 +1,94 @@ +{ + "type": "multi_task_dit", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 40, + "n_action_steps": 20, + "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": 100, + "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": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16", + "use_separate_rgb_encoder_per_camera": false, + "vision_encoder_lr_multiplier": 0.1, + "image_resize_shape": [ + 224, + 224 + ], + "image_crop_shape": null, + "image_crop_is_random": true, + "text_encoder_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/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": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "optimizer_lr": 2e-05, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 0.0, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 0, + "do_mask_loss_for_padding": false, + "drop_n_last_frames": 20 +} \ No newline at end of file diff --git a/small/HOI_double_desk/mtp_twist2_doubledesk_0529/pretrained_model/policy_postprocessor.json b/small/HOI_double_desk/mtp_twist2_doubledesk_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843 --- /dev/null +++ b/small/HOI_double_desk/mtp_twist2_doubledesk_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HOI_double_desk/mtp_twist2_doubledesk_0529/pretrained_model/policy_preprocessor.json b/small/HOI_double_desk/mtp_twist2_doubledesk_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..b93b2b34130aa01f598ea5bc191078d6b44ff217 --- /dev/null +++ b/small/HOI_double_desk/mtp_twist2_doubledesk_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,67 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "tokenizer_processor", + "config": { + "max_length": 77, + "task_key": "task", + "padding_side": "right", + "padding": "max_length", + "truncation": true, + "tokenizer_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16" + } + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HOI_double_desk/mtp_twist2_doubledesk_0529/pretrained_model/train_config.json b/small/HOI_double_desk/mtp_twist2_doubledesk_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..930662d79d3f346f3d0e6db8b8b1a462571c703e --- /dev/null +++ b/small/HOI_double_desk/mtp_twist2_doubledesk_0529/pretrained_model/train_config.json @@ -0,0 +1,191 @@ +{ + "dataset": { + "repo_id": "local/HOI_double_desk_twist2_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_double_desk/HOI_double_desk_twist2_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "multi_task_dit", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 40, + "n_action_steps": 20, + "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": 100, + "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": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16", + "use_separate_rgb_encoder_per_camera": false, + "vision_encoder_lr_multiplier": 0.1, + "image_resize_shape": [ + 224, + 224 + ], + "image_crop_shape": null, + "image_crop_is_random": true, + "text_encoder_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/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": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "optimizer_lr": 2e-05, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 0.0, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 0, + "do_mask_loss_for_padding": false, + "drop_n_last_frames": 20 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/small/HOI_double_desk/mtp_HOI_double_desk_twist2_refpose_v3_1", + "job_name": "mtp_HOI_double_desk_twist2_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 2e-05, + "weight_decay": 0.0, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 0, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "0b6c2wk8", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": { + "observation.images.front": "observation.images.image" + }, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HOI_double_desk/mtp_twist2_doubledesk_0529/training_state/optimizer_param_groups.json b/small/HOI_double_desk/mtp_twist2_doubledesk_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a57e3337d62522ee3a323472d91b7697952111 --- /dev/null +++ b/small/HOI_double_desk/mtp_twist2_doubledesk_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,309 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 2e-05, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69 + ] + }, + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 2.0000000000000003e-06, + "params": [ + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268 + ] + } +] \ No newline at end of file diff --git a/small/HOI_double_desk/mtp_twist2_doubledesk_0529/training_state/scheduler_state.json b/small/HOI_double_desk/mtp_twist2_doubledesk_0529/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..e304355204d1e372dd6e0743a6ce3c761e87bb8f --- /dev/null +++ b/small/HOI_double_desk/mtp_twist2_doubledesk_0529/training_state/scheduler_state.json @@ -0,0 +1,18 @@ +{ + "base_lrs": [ + 2e-05, + 2.0000000000000003e-06 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0, + 0.0 + ], + "lr_lambdas": [ + null, + null + ] +} \ No newline at end of file diff --git a/small/HOI_double_desk/mtp_twist2_doubledesk_0529/training_state/training_step.json b/small/HOI_double_desk/mtp_twist2_doubledesk_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HOI_double_desk/mtp_twist2_doubledesk_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HOI_football/act_sonic_football_0529/pretrained_model/policy_postprocessor.json b/small/HOI_football/act_sonic_football_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..bba8303252c414ba9a4815afc58dc5173ab27c5e --- /dev/null +++ b/small/HOI_football/act_sonic_football_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HOI_football/act_twist2_football_0529/pretrained_model/config.json b/small/HOI_football/act_twist2_football_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..69f8e7d2e90fdd1cd2cd3e44cb1901c0a9904712 --- /dev/null +++ b/small/HOI_football/act_twist2_football_0529/pretrained_model/config.json @@ -0,0 +1,63 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 20, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/small/HOI_football/act_twist2_football_0529/pretrained_model/policy_postprocessor.json b/small/HOI_football/act_twist2_football_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..bba8303252c414ba9a4815afc58dc5173ab27c5e --- /dev/null +++ b/small/HOI_football/act_twist2_football_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HOI_football/act_twist2_football_0529/pretrained_model/policy_preprocessor.json b/small/HOI_football/act_twist2_football_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..cfd10af9e250e8f07e0a5988ec5b2c1eff02f374 --- /dev/null +++ b/small/HOI_football/act_twist2_football_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HOI_football/act_twist2_football_0529/pretrained_model/train_config.json b/small/HOI_football/act_twist2_football_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b0f947835d223f5ed248f63cbce73accafc35a9e --- /dev/null +++ b/small/HOI_football/act_twist2_football_0529/pretrained_model/train_config.json @@ -0,0 +1,154 @@ +{ + "dataset": { + "repo_id": "local/HOI_football_twist2_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_football/HOI_football_twist2_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 20, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/HOI_football/act_HOI_football_twist2_refpose_v3_1", + "job_name": "act_HOI_football_twist2_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "ewdjep0i", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HOI_football/act_twist2_football_0529/training_state/training_step.json b/small/HOI_football/act_twist2_football_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HOI_football/act_twist2_football_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HOI_football/diffusion_sonic_football_0529/pretrained_model/config.json b/small/HOI_football/diffusion_sonic_football_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..460ea67ad033f7b6b1b2c5c9ba2175c8e1468e8d --- /dev/null +++ b/small/HOI_football/diffusion_sonic_football_0529/pretrained_model/config.json @@ -0,0 +1,87 @@ +{ + "type": "diffusion", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 24, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "resize_shape": [ + 224, + 224 + ], + "crop_ratio": 1.0, + "crop_shape": null, + "crop_is_random": true, + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "use_group_norm": false, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": false, + "down_dims": [ + 512, + 1024, + 2048 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "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, + "compile_model": false, + "compile_mode": "reduce-overhead", + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 +} \ No newline at end of file diff --git a/small/HOI_football/diffusion_sonic_football_0529/pretrained_model/policy_postprocessor.json b/small/HOI_football/diffusion_sonic_football_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843 --- /dev/null +++ b/small/HOI_football/diffusion_sonic_football_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HOI_football/diffusion_sonic_football_0529/pretrained_model/policy_preprocessor.json b/small/HOI_football/diffusion_sonic_football_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..9e1ab41ada69949b579d7350b9246d04cc832387 --- /dev/null +++ b/small/HOI_football/diffusion_sonic_football_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HOI_football/diffusion_sonic_football_0529/pretrained_model/train_config.json b/small/HOI_football/diffusion_sonic_football_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..955be64650d3e9d70b477457641842893f54a0db --- /dev/null +++ b/small/HOI_football/diffusion_sonic_football_0529/pretrained_model/train_config.json @@ -0,0 +1,182 @@ +{ + "dataset": { + "repo_id": "local/HOI_football_sonic_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_football/HOI_football_sonic_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "diffusion", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 24, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "resize_shape": [ + 224, + 224 + ], + "crop_ratio": 1.0, + "crop_shape": null, + "crop_is_random": true, + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "use_group_norm": false, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": false, + "down_dims": [ + 512, + 1024, + 2048 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "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, + "compile_model": false, + "compile_mode": "reduce-overhead", + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/HOI_football/diffusion_HOI_football_sonic_refpose_v3_1", + "job_name": "diffusion_HOI_football_sonic_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 0.0001, + "weight_decay": 1e-06, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 500, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "o7ogo17p", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HOI_football/diffusion_sonic_football_0529/training_state/optimizer_param_groups.json b/small/HOI_football/diffusion_sonic_football_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..5ad4a0652f3e90db3740c824423694349bd048f0 --- /dev/null +++ b/small/HOI_football/diffusion_sonic_football_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,233 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 1e-06, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211 + ] + } +] \ No newline at end of file diff --git a/small/HOI_football/diffusion_sonic_football_0529/training_state/scheduler_state.json b/small/HOI_football/diffusion_sonic_football_0529/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..9026ed6a39a1d91fe6d3b91e0ded64aa35ee587b --- /dev/null +++ b/small/HOI_football/diffusion_sonic_football_0529/training_state/scheduler_state.json @@ -0,0 +1,15 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/small/HOI_football/diffusion_sonic_football_0529/training_state/training_step.json b/small/HOI_football/diffusion_sonic_football_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HOI_football/diffusion_sonic_football_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HOI_football/diffusion_twist2_football_0529/pretrained_model/config.json b/small/HOI_football/diffusion_twist2_football_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..460ea67ad033f7b6b1b2c5c9ba2175c8e1468e8d --- /dev/null +++ b/small/HOI_football/diffusion_twist2_football_0529/pretrained_model/config.json @@ -0,0 +1,87 @@ +{ + "type": "diffusion", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 24, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "resize_shape": [ + 224, + 224 + ], + "crop_ratio": 1.0, + "crop_shape": null, + "crop_is_random": true, + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "use_group_norm": false, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": false, + "down_dims": [ + 512, + 1024, + 2048 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "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, + "compile_model": false, + "compile_mode": "reduce-overhead", + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 +} \ No newline at end of file diff --git a/small/HOI_football/diffusion_twist2_football_0529/pretrained_model/policy_postprocessor.json b/small/HOI_football/diffusion_twist2_football_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843 --- /dev/null +++ b/small/HOI_football/diffusion_twist2_football_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HOI_football/diffusion_twist2_football_0529/pretrained_model/policy_preprocessor.json b/small/HOI_football/diffusion_twist2_football_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..9e1ab41ada69949b579d7350b9246d04cc832387 --- /dev/null +++ b/small/HOI_football/diffusion_twist2_football_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HOI_football/diffusion_twist2_football_0529/pretrained_model/train_config.json b/small/HOI_football/diffusion_twist2_football_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..add3516a315deaf65f2898369bc56c5efb65d44b --- /dev/null +++ b/small/HOI_football/diffusion_twist2_football_0529/pretrained_model/train_config.json @@ -0,0 +1,182 @@ +{ + "dataset": { + "repo_id": "local/HOI_football_twist2_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_football/HOI_football_twist2_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "diffusion", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 24, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "resize_shape": [ + 224, + 224 + ], + "crop_ratio": 1.0, + "crop_shape": null, + "crop_is_random": true, + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "use_group_norm": false, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": false, + "down_dims": [ + 512, + 1024, + 2048 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "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, + "compile_model": false, + "compile_mode": "reduce-overhead", + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/HOI_football/diffusion_HOI_football_twist2_refpose_v3_1", + "job_name": "diffusion_HOI_football_twist2_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 0.0001, + "weight_decay": 1e-06, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 500, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "rqw9149o", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HOI_football/diffusion_twist2_football_0529/training_state/optimizer_param_groups.json b/small/HOI_football/diffusion_twist2_football_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..5ad4a0652f3e90db3740c824423694349bd048f0 --- /dev/null +++ b/small/HOI_football/diffusion_twist2_football_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,233 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 1e-06, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211 + ] + } +] \ No newline at end of file diff --git a/small/HOI_football/diffusion_twist2_football_0529/training_state/scheduler_state.json b/small/HOI_football/diffusion_twist2_football_0529/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..9026ed6a39a1d91fe6d3b91e0ded64aa35ee587b --- /dev/null +++ b/small/HOI_football/diffusion_twist2_football_0529/training_state/scheduler_state.json @@ -0,0 +1,15 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/small/HOI_football/diffusion_twist2_football_0529/training_state/training_step.json b/small/HOI_football/diffusion_twist2_football_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HOI_football/diffusion_twist2_football_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HOI_football/mtp_sonic_football_0529/pretrained_model/config.json b/small/HOI_football/mtp_sonic_football_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..dfada256f7f9c7b44506559cf87d3670f32bdad4 --- /dev/null +++ b/small/HOI_football/mtp_sonic_football_0529/pretrained_model/config.json @@ -0,0 +1,94 @@ +{ + "type": "multi_task_dit", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 40, + "n_action_steps": 20, + "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": 100, + "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": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16", + "use_separate_rgb_encoder_per_camera": false, + "vision_encoder_lr_multiplier": 0.1, + "image_resize_shape": [ + 224, + 224 + ], + "image_crop_shape": null, + "image_crop_is_random": true, + "text_encoder_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/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": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "optimizer_lr": 2e-05, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 0.0, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 0, + "do_mask_loss_for_padding": false, + "drop_n_last_frames": 20 +} \ No newline at end of file diff --git a/small/HOI_football/mtp_sonic_football_0529/pretrained_model/policy_postprocessor.json b/small/HOI_football/mtp_sonic_football_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843 --- /dev/null +++ b/small/HOI_football/mtp_sonic_football_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HOI_football/mtp_sonic_football_0529/pretrained_model/policy_preprocessor.json b/small/HOI_football/mtp_sonic_football_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..b93b2b34130aa01f598ea5bc191078d6b44ff217 --- /dev/null +++ b/small/HOI_football/mtp_sonic_football_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,67 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "tokenizer_processor", + "config": { + "max_length": 77, + "task_key": "task", + "padding_side": "right", + "padding": "max_length", + "truncation": true, + "tokenizer_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16" + } + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HOI_football/mtp_sonic_football_0529/pretrained_model/train_config.json b/small/HOI_football/mtp_sonic_football_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..577858ead5ae51dd40d90a93de5d7238e286d9dd --- /dev/null +++ b/small/HOI_football/mtp_sonic_football_0529/pretrained_model/train_config.json @@ -0,0 +1,191 @@ +{ + "dataset": { + "repo_id": "local/HOI_football_sonic_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_football/HOI_football_sonic_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "multi_task_dit", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 40, + "n_action_steps": 20, + "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": 100, + "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": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16", + "use_separate_rgb_encoder_per_camera": false, + "vision_encoder_lr_multiplier": 0.1, + "image_resize_shape": [ + 224, + 224 + ], + "image_crop_shape": null, + "image_crop_is_random": true, + "text_encoder_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/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": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "optimizer_lr": 2e-05, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 0.0, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 0, + "do_mask_loss_for_padding": false, + "drop_n_last_frames": 20 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/small/HOI_football/mtp_HOI_football_sonic_refpose_v3_1", + "job_name": "mtp_HOI_football_sonic_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 2e-05, + "weight_decay": 0.0, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 0, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "ya8bwp7p", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": { + "observation.images.front": "observation.images.image" + }, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HOI_football/mtp_sonic_football_0529/training_state/optimizer_param_groups.json b/small/HOI_football/mtp_sonic_football_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a57e3337d62522ee3a323472d91b7697952111 --- /dev/null +++ b/small/HOI_football/mtp_sonic_football_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,309 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 2e-05, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69 + ] + }, + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 2.0000000000000003e-06, + "params": [ + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268 + ] + } +] \ No newline at end of file diff --git a/small/HOI_football/mtp_sonic_football_0529/training_state/scheduler_state.json b/small/HOI_football/mtp_sonic_football_0529/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..e304355204d1e372dd6e0743a6ce3c761e87bb8f --- /dev/null +++ b/small/HOI_football/mtp_sonic_football_0529/training_state/scheduler_state.json @@ -0,0 +1,18 @@ +{ + "base_lrs": [ + 2e-05, + 2.0000000000000003e-06 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0, + 0.0 + ], + "lr_lambdas": [ + null, + null + ] +} \ No newline at end of file diff --git a/small/HOI_football/mtp_sonic_football_0529/training_state/training_step.json b/small/HOI_football/mtp_sonic_football_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HOI_football/mtp_sonic_football_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HOI_football/mtp_twist2_football_0529/pretrained_model/config.json b/small/HOI_football/mtp_twist2_football_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..dfada256f7f9c7b44506559cf87d3670f32bdad4 --- /dev/null +++ b/small/HOI_football/mtp_twist2_football_0529/pretrained_model/config.json @@ -0,0 +1,94 @@ +{ + "type": "multi_task_dit", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 40, + "n_action_steps": 20, + "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": 100, + "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": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16", + "use_separate_rgb_encoder_per_camera": false, + "vision_encoder_lr_multiplier": 0.1, + "image_resize_shape": [ + 224, + 224 + ], + "image_crop_shape": null, + "image_crop_is_random": true, + "text_encoder_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/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": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "optimizer_lr": 2e-05, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 0.0, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 0, + "do_mask_loss_for_padding": false, + "drop_n_last_frames": 20 +} \ No newline at end of file diff --git a/small/HOI_football/mtp_twist2_football_0529/pretrained_model/policy_postprocessor.json b/small/HOI_football/mtp_twist2_football_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843 --- /dev/null +++ b/small/HOI_football/mtp_twist2_football_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HOI_football/mtp_twist2_football_0529/pretrained_model/policy_preprocessor.json b/small/HOI_football/mtp_twist2_football_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..b93b2b34130aa01f598ea5bc191078d6b44ff217 --- /dev/null +++ b/small/HOI_football/mtp_twist2_football_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,67 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "tokenizer_processor", + "config": { + "max_length": 77, + "task_key": "task", + "padding_side": "right", + "padding": "max_length", + "truncation": true, + "tokenizer_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16" + } + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HOI_football/mtp_twist2_football_0529/pretrained_model/train_config.json b/small/HOI_football/mtp_twist2_football_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f2426690f9952b5a334a8020e8e8bb90ef976f56 --- /dev/null +++ b/small/HOI_football/mtp_twist2_football_0529/pretrained_model/train_config.json @@ -0,0 +1,191 @@ +{ + "dataset": { + "repo_id": "local/HOI_football_twist2_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_football/HOI_football_twist2_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "multi_task_dit", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 40, + "n_action_steps": 20, + "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": 100, + "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": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16", + "use_separate_rgb_encoder_per_camera": false, + "vision_encoder_lr_multiplier": 0.1, + "image_resize_shape": [ + 224, + 224 + ], + "image_crop_shape": null, + "image_crop_is_random": true, + "text_encoder_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/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": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "optimizer_lr": 2e-05, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 0.0, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 0, + "do_mask_loss_for_padding": false, + "drop_n_last_frames": 20 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/small/HOI_football/mtp_HOI_football_twist2_refpose_v3_1", + "job_name": "mtp_HOI_football_twist2_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 2e-05, + "weight_decay": 0.0, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 0, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "m04lgldt", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": { + "observation.images.front": "observation.images.image" + }, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HOI_football/mtp_twist2_football_0529/training_state/optimizer_param_groups.json b/small/HOI_football/mtp_twist2_football_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a57e3337d62522ee3a323472d91b7697952111 --- /dev/null +++ b/small/HOI_football/mtp_twist2_football_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,309 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 2e-05, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69 + ] + }, + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 2.0000000000000003e-06, + "params": [ + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268 + ] + } +] \ No newline at end of file diff --git a/small/HOI_football/mtp_twist2_football_0529/training_state/scheduler_state.json b/small/HOI_football/mtp_twist2_football_0529/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..e304355204d1e372dd6e0743a6ce3c761e87bb8f --- /dev/null +++ b/small/HOI_football/mtp_twist2_football_0529/training_state/scheduler_state.json @@ -0,0 +1,18 @@ +{ + "base_lrs": [ + 2e-05, + 2.0000000000000003e-06 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0, + 0.0 + ], + "lr_lambdas": [ + null, + null + ] +} \ No newline at end of file diff --git a/small/HOI_football/mtp_twist2_football_0529/training_state/training_step.json b/small/HOI_football/mtp_twist2_football_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HOI_football/mtp_twist2_football_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HOI_pp_box/act_sonic_ppbox_0529/pretrained_model/config.json b/small/HOI_pp_box/act_sonic_ppbox_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..69f8e7d2e90fdd1cd2cd3e44cb1901c0a9904712 --- /dev/null +++ b/small/HOI_pp_box/act_sonic_ppbox_0529/pretrained_model/config.json @@ -0,0 +1,63 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 20, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/small/HOI_pp_box/act_sonic_ppbox_0529/pretrained_model/policy_postprocessor.json b/small/HOI_pp_box/act_sonic_ppbox_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..bba8303252c414ba9a4815afc58dc5173ab27c5e --- /dev/null +++ b/small/HOI_pp_box/act_sonic_ppbox_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HOI_pp_box/act_sonic_ppbox_0529/pretrained_model/policy_preprocessor.json b/small/HOI_pp_box/act_sonic_ppbox_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..cfd10af9e250e8f07e0a5988ec5b2c1eff02f374 --- /dev/null +++ b/small/HOI_pp_box/act_sonic_ppbox_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HOI_pp_box/act_sonic_ppbox_0529/pretrained_model/train_config.json b/small/HOI_pp_box/act_sonic_ppbox_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fa35538c82caadace07a006dbb920c3aa47a29b5 --- /dev/null +++ b/small/HOI_pp_box/act_sonic_ppbox_0529/pretrained_model/train_config.json @@ -0,0 +1,154 @@ +{ + "dataset": { + "repo_id": "local/HOI_pp_box_sonic_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_pp_box/HOI_pp_box_sonic_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 20, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/HOI_pp_box/act_HOI_pp_box_sonic_refpose_v3_1", + "job_name": "act_HOI_pp_box_sonic_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "no4w5ve2", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HOI_pp_box/act_sonic_ppbox_0529/training_state/optimizer_param_groups.json b/small/HOI_pp_box/act_sonic_ppbox_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..33506df097b87c64b2aa15765ab89706780c0dc0 --- /dev/null +++ b/small/HOI_pp_box/act_sonic_ppbox_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,191 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152 + ] + } +] \ No newline at end of file diff --git a/small/HOI_pp_box/act_sonic_ppbox_0529/training_state/training_step.json b/small/HOI_pp_box/act_sonic_ppbox_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HOI_pp_box/act_sonic_ppbox_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HOI_pp_box/act_twist2_ppbox_0529/pretrained_model/config.json b/small/HOI_pp_box/act_twist2_ppbox_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..69f8e7d2e90fdd1cd2cd3e44cb1901c0a9904712 --- /dev/null +++ b/small/HOI_pp_box/act_twist2_ppbox_0529/pretrained_model/config.json @@ -0,0 +1,63 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 20, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/small/HOI_pp_box/act_twist2_ppbox_0529/pretrained_model/policy_postprocessor.json b/small/HOI_pp_box/act_twist2_ppbox_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..bba8303252c414ba9a4815afc58dc5173ab27c5e --- /dev/null +++ b/small/HOI_pp_box/act_twist2_ppbox_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HOI_pp_box/act_twist2_ppbox_0529/pretrained_model/policy_preprocessor.json b/small/HOI_pp_box/act_twist2_ppbox_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..cfd10af9e250e8f07e0a5988ec5b2c1eff02f374 --- /dev/null +++ b/small/HOI_pp_box/act_twist2_ppbox_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HOI_pp_box/act_twist2_ppbox_0529/pretrained_model/train_config.json b/small/HOI_pp_box/act_twist2_ppbox_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f5b771861bce98774168363714789a54dc512ba0 --- /dev/null +++ b/small/HOI_pp_box/act_twist2_ppbox_0529/pretrained_model/train_config.json @@ -0,0 +1,154 @@ +{ + "dataset": { + "repo_id": "local/HOI_pp_box_twist2_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_pp_box/HOI_pp_box_twist2_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 20, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/HOI_pp_box/act_HOI_pp_box_twist2_refpose_v3_1", + "job_name": "act_HOI_pp_box_twist2_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "5rvjtuce", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HOI_pp_box/act_twist2_ppbox_0529/training_state/optimizer_param_groups.json b/small/HOI_pp_box/act_twist2_ppbox_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..33506df097b87c64b2aa15765ab89706780c0dc0 --- /dev/null +++ b/small/HOI_pp_box/act_twist2_ppbox_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,191 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152 + ] + } +] \ No newline at end of file diff --git a/small/HOI_pp_box/act_twist2_ppbox_0529/training_state/training_step.json b/small/HOI_pp_box/act_twist2_ppbox_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HOI_pp_box/act_twist2_ppbox_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HOI_pp_box/diffusion_sonic_ppbox_0529/pretrained_model/config.json b/small/HOI_pp_box/diffusion_sonic_ppbox_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..460ea67ad033f7b6b1b2c5c9ba2175c8e1468e8d --- /dev/null +++ b/small/HOI_pp_box/diffusion_sonic_ppbox_0529/pretrained_model/config.json @@ -0,0 +1,87 @@ +{ + "type": "diffusion", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 24, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "resize_shape": [ + 224, + 224 + ], + "crop_ratio": 1.0, + "crop_shape": null, + "crop_is_random": true, + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "use_group_norm": false, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": false, + "down_dims": [ + 512, + 1024, + 2048 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "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, + "compile_model": false, + "compile_mode": "reduce-overhead", + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 +} \ No newline at end of file diff --git a/small/HOI_pp_box/diffusion_sonic_ppbox_0529/pretrained_model/policy_postprocessor.json b/small/HOI_pp_box/diffusion_sonic_ppbox_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843 --- /dev/null +++ b/small/HOI_pp_box/diffusion_sonic_ppbox_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HOI_pp_box/diffusion_sonic_ppbox_0529/pretrained_model/policy_preprocessor.json b/small/HOI_pp_box/diffusion_sonic_ppbox_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..9e1ab41ada69949b579d7350b9246d04cc832387 --- /dev/null +++ b/small/HOI_pp_box/diffusion_sonic_ppbox_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HOI_pp_box/diffusion_sonic_ppbox_0529/pretrained_model/train_config.json b/small/HOI_pp_box/diffusion_sonic_ppbox_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..34a352cffa38c4d38a2720ba11562d874a75b17f --- /dev/null +++ b/small/HOI_pp_box/diffusion_sonic_ppbox_0529/pretrained_model/train_config.json @@ -0,0 +1,182 @@ +{ + "dataset": { + "repo_id": "local/HOI_pp_box_sonic_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_pp_box/HOI_pp_box_sonic_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "diffusion", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 24, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "resize_shape": [ + 224, + 224 + ], + "crop_ratio": 1.0, + "crop_shape": null, + "crop_is_random": true, + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "use_group_norm": false, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": false, + "down_dims": [ + 512, + 1024, + 2048 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "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, + "compile_model": false, + "compile_mode": "reduce-overhead", + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/HOI_pp_box/diffusion_HOI_pp_box_sonic_refpose_v3_1", + "job_name": "diffusion_HOI_pp_box_sonic_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 0.0001, + "weight_decay": 1e-06, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 500, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "64t71pcj", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HOI_pp_box/diffusion_sonic_ppbox_0529/training_state/optimizer_param_groups.json b/small/HOI_pp_box/diffusion_sonic_ppbox_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..5ad4a0652f3e90db3740c824423694349bd048f0 --- /dev/null +++ b/small/HOI_pp_box/diffusion_sonic_ppbox_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,233 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 1e-06, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211 + ] + } +] \ No newline at end of file diff --git a/small/HOI_pp_box/diffusion_sonic_ppbox_0529/training_state/scheduler_state.json b/small/HOI_pp_box/diffusion_sonic_ppbox_0529/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..9026ed6a39a1d91fe6d3b91e0ded64aa35ee587b --- /dev/null +++ b/small/HOI_pp_box/diffusion_sonic_ppbox_0529/training_state/scheduler_state.json @@ -0,0 +1,15 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/small/HOI_pp_box/diffusion_sonic_ppbox_0529/training_state/training_step.json b/small/HOI_pp_box/diffusion_sonic_ppbox_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HOI_pp_box/diffusion_sonic_ppbox_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HOI_pp_box/diffusion_twist2_ppbox_0529/pretrained_model/config.json b/small/HOI_pp_box/diffusion_twist2_ppbox_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..460ea67ad033f7b6b1b2c5c9ba2175c8e1468e8d --- /dev/null +++ b/small/HOI_pp_box/diffusion_twist2_ppbox_0529/pretrained_model/config.json @@ -0,0 +1,87 @@ +{ + "type": "diffusion", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 24, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "resize_shape": [ + 224, + 224 + ], + "crop_ratio": 1.0, + "crop_shape": null, + "crop_is_random": true, + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "use_group_norm": false, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": false, + "down_dims": [ + 512, + 1024, + 2048 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "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, + "compile_model": false, + "compile_mode": "reduce-overhead", + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 +} \ No newline at end of file diff --git a/small/HOI_pp_box/diffusion_twist2_ppbox_0529/pretrained_model/policy_postprocessor.json b/small/HOI_pp_box/diffusion_twist2_ppbox_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843 --- /dev/null +++ b/small/HOI_pp_box/diffusion_twist2_ppbox_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HOI_pp_box/diffusion_twist2_ppbox_0529/pretrained_model/policy_preprocessor.json b/small/HOI_pp_box/diffusion_twist2_ppbox_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..9e1ab41ada69949b579d7350b9246d04cc832387 --- /dev/null +++ b/small/HOI_pp_box/diffusion_twist2_ppbox_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HOI_pp_box/diffusion_twist2_ppbox_0529/pretrained_model/train_config.json b/small/HOI_pp_box/diffusion_twist2_ppbox_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..db4584b41d13fa5df067bf3d0ab097ef15497afa --- /dev/null +++ b/small/HOI_pp_box/diffusion_twist2_ppbox_0529/pretrained_model/train_config.json @@ -0,0 +1,182 @@ +{ + "dataset": { + "repo_id": "local/HOI_pp_box_twist2_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_pp_box/HOI_pp_box_twist2_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "diffusion", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 24, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "resize_shape": [ + 224, + 224 + ], + "crop_ratio": 1.0, + "crop_shape": null, + "crop_is_random": true, + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "use_group_norm": false, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": false, + "down_dims": [ + 512, + 1024, + 2048 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "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, + "compile_model": false, + "compile_mode": "reduce-overhead", + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/HOI_pp_box/diffusion_HOI_pp_box_twist2_refpose_v3_1", + "job_name": "diffusion_HOI_pp_box_twist2_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 0.0001, + "weight_decay": 1e-06, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 500, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "1s082qem", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HOI_pp_box/diffusion_twist2_ppbox_0529/training_state/optimizer_param_groups.json b/small/HOI_pp_box/diffusion_twist2_ppbox_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..5ad4a0652f3e90db3740c824423694349bd048f0 --- /dev/null +++ b/small/HOI_pp_box/diffusion_twist2_ppbox_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,233 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 1e-06, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211 + ] + } +] \ No newline at end of file diff --git a/small/HOI_pp_box/diffusion_twist2_ppbox_0529/training_state/scheduler_state.json b/small/HOI_pp_box/diffusion_twist2_ppbox_0529/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..9026ed6a39a1d91fe6d3b91e0ded64aa35ee587b --- /dev/null +++ b/small/HOI_pp_box/diffusion_twist2_ppbox_0529/training_state/scheduler_state.json @@ -0,0 +1,15 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/small/HOI_pp_box/diffusion_twist2_ppbox_0529/training_state/training_step.json b/small/HOI_pp_box/diffusion_twist2_ppbox_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HOI_pp_box/diffusion_twist2_ppbox_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HOI_pp_box/mtp_sonic_ppbox_0529/pretrained_model/config.json b/small/HOI_pp_box/mtp_sonic_ppbox_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..dfada256f7f9c7b44506559cf87d3670f32bdad4 --- /dev/null +++ b/small/HOI_pp_box/mtp_sonic_ppbox_0529/pretrained_model/config.json @@ -0,0 +1,94 @@ +{ + "type": "multi_task_dit", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 40, + "n_action_steps": 20, + "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": 100, + "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": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16", + "use_separate_rgb_encoder_per_camera": false, + "vision_encoder_lr_multiplier": 0.1, + "image_resize_shape": [ + 224, + 224 + ], + "image_crop_shape": null, + "image_crop_is_random": true, + "text_encoder_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/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": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "optimizer_lr": 2e-05, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 0.0, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 0, + "do_mask_loss_for_padding": false, + "drop_n_last_frames": 20 +} \ No newline at end of file diff --git a/small/HOI_pp_box/mtp_sonic_ppbox_0529/pretrained_model/policy_postprocessor.json b/small/HOI_pp_box/mtp_sonic_ppbox_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843 --- /dev/null +++ b/small/HOI_pp_box/mtp_sonic_ppbox_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HOI_pp_box/mtp_sonic_ppbox_0529/pretrained_model/policy_preprocessor.json b/small/HOI_pp_box/mtp_sonic_ppbox_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..b93b2b34130aa01f598ea5bc191078d6b44ff217 --- /dev/null +++ b/small/HOI_pp_box/mtp_sonic_ppbox_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,67 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "tokenizer_processor", + "config": { + "max_length": 77, + "task_key": "task", + "padding_side": "right", + "padding": "max_length", + "truncation": true, + "tokenizer_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16" + } + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HOI_pp_box/mtp_sonic_ppbox_0529/pretrained_model/train_config.json b/small/HOI_pp_box/mtp_sonic_ppbox_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..45b5d8644c337d9731cea668949b9785d0b32496 --- /dev/null +++ b/small/HOI_pp_box/mtp_sonic_ppbox_0529/pretrained_model/train_config.json @@ -0,0 +1,191 @@ +{ + "dataset": { + "repo_id": "local/HOI_pp_box_sonic_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_pp_box/HOI_pp_box_sonic_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "multi_task_dit", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 40, + "n_action_steps": 20, + "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": 100, + "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": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16", + "use_separate_rgb_encoder_per_camera": false, + "vision_encoder_lr_multiplier": 0.1, + "image_resize_shape": [ + 224, + 224 + ], + "image_crop_shape": null, + "image_crop_is_random": true, + "text_encoder_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/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": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "optimizer_lr": 2e-05, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 0.0, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 0, + "do_mask_loss_for_padding": false, + "drop_n_last_frames": 20 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/small/HOI_pp_box/mtp_HOI_pp_box_sonic_refpose_v3_1", + "job_name": "mtp_HOI_pp_box_sonic_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 2e-05, + "weight_decay": 0.0, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 0, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "wstwlw8o", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": { + "observation.images.front": "observation.images.image" + }, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HOI_pp_box/mtp_sonic_ppbox_0529/training_state/optimizer_param_groups.json b/small/HOI_pp_box/mtp_sonic_ppbox_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a57e3337d62522ee3a323472d91b7697952111 --- /dev/null +++ b/small/HOI_pp_box/mtp_sonic_ppbox_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,309 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 2e-05, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69 + ] + }, + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 2.0000000000000003e-06, + "params": [ + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268 + ] + } +] \ No newline at end of file diff --git a/small/HOI_pp_box/mtp_sonic_ppbox_0529/training_state/scheduler_state.json b/small/HOI_pp_box/mtp_sonic_ppbox_0529/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..e304355204d1e372dd6e0743a6ce3c761e87bb8f --- /dev/null +++ b/small/HOI_pp_box/mtp_sonic_ppbox_0529/training_state/scheduler_state.json @@ -0,0 +1,18 @@ +{ + "base_lrs": [ + 2e-05, + 2.0000000000000003e-06 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0, + 0.0 + ], + "lr_lambdas": [ + null, + null + ] +} \ No newline at end of file diff --git a/small/HOI_pp_box/mtp_sonic_ppbox_0529/training_state/training_step.json b/small/HOI_pp_box/mtp_sonic_ppbox_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HOI_pp_box/mtp_sonic_ppbox_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HOI_pp_box/mtp_twist2_ppbox_0529/pretrained_model/config.json b/small/HOI_pp_box/mtp_twist2_ppbox_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..dfada256f7f9c7b44506559cf87d3670f32bdad4 --- /dev/null +++ b/small/HOI_pp_box/mtp_twist2_ppbox_0529/pretrained_model/config.json @@ -0,0 +1,94 @@ +{ + "type": "multi_task_dit", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 40, + "n_action_steps": 20, + "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": 100, + "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": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16", + "use_separate_rgb_encoder_per_camera": false, + "vision_encoder_lr_multiplier": 0.1, + "image_resize_shape": [ + 224, + 224 + ], + "image_crop_shape": null, + "image_crop_is_random": true, + "text_encoder_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/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": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "optimizer_lr": 2e-05, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 0.0, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 0, + "do_mask_loss_for_padding": false, + "drop_n_last_frames": 20 +} \ No newline at end of file diff --git a/small/HOI_pp_box/mtp_twist2_ppbox_0529/pretrained_model/policy_postprocessor.json b/small/HOI_pp_box/mtp_twist2_ppbox_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843 --- /dev/null +++ b/small/HOI_pp_box/mtp_twist2_ppbox_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HOI_pp_box/mtp_twist2_ppbox_0529/pretrained_model/policy_preprocessor.json b/small/HOI_pp_box/mtp_twist2_ppbox_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..b93b2b34130aa01f598ea5bc191078d6b44ff217 --- /dev/null +++ b/small/HOI_pp_box/mtp_twist2_ppbox_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,67 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "tokenizer_processor", + "config": { + "max_length": 77, + "task_key": "task", + "padding_side": "right", + "padding": "max_length", + "truncation": true, + "tokenizer_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16" + } + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HOI_pp_box/mtp_twist2_ppbox_0529/pretrained_model/train_config.json b/small/HOI_pp_box/mtp_twist2_ppbox_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..46e914368101f943a13bb355ac2789adb48fba53 --- /dev/null +++ b/small/HOI_pp_box/mtp_twist2_ppbox_0529/pretrained_model/train_config.json @@ -0,0 +1,191 @@ +{ + "dataset": { + "repo_id": "local/HOI_pp_box_twist2_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_pp_box/HOI_pp_box_twist2_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "multi_task_dit", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 40, + "n_action_steps": 20, + "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": 100, + "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": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16", + "use_separate_rgb_encoder_per_camera": false, + "vision_encoder_lr_multiplier": 0.1, + "image_resize_shape": [ + 224, + 224 + ], + "image_crop_shape": null, + "image_crop_is_random": true, + "text_encoder_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/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": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "optimizer_lr": 2e-05, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 0.0, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 0, + "do_mask_loss_for_padding": false, + "drop_n_last_frames": 20 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/small/HOI_pp_box/mtp_HOI_pp_box_twist2_refpose_v3_1", + "job_name": "mtp_HOI_pp_box_twist2_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 2e-05, + "weight_decay": 0.0, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 0, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "n3hvvf3v", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": { + "observation.images.front": "observation.images.image" + }, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HOI_pp_box/mtp_twist2_ppbox_0529/training_state/optimizer_param_groups.json b/small/HOI_pp_box/mtp_twist2_ppbox_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a57e3337d62522ee3a323472d91b7697952111 --- /dev/null +++ b/small/HOI_pp_box/mtp_twist2_ppbox_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,309 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 2e-05, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69 + ] + }, + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 2.0000000000000003e-06, + "params": [ + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268 + ] + } +] \ No newline at end of file diff --git a/small/HOI_pp_box/mtp_twist2_ppbox_0529/training_state/scheduler_state.json b/small/HOI_pp_box/mtp_twist2_ppbox_0529/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..e304355204d1e372dd6e0743a6ce3c761e87bb8f --- /dev/null +++ b/small/HOI_pp_box/mtp_twist2_ppbox_0529/training_state/scheduler_state.json @@ -0,0 +1,18 @@ +{ + "base_lrs": [ + 2e-05, + 2.0000000000000003e-06 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0, + 0.0 + ], + "lr_lambdas": [ + null, + null + ] +} \ No newline at end of file diff --git a/small/HOI_pp_box/mtp_twist2_ppbox_0529/training_state/training_step.json b/small/HOI_pp_box/mtp_twist2_ppbox_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HOI_pp_box/mtp_twist2_ppbox_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HSI_open_door/act_sonic_opendoor_0529/pretrained_model/config.json b/small/HSI_open_door/act_sonic_opendoor_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..69f8e7d2e90fdd1cd2cd3e44cb1901c0a9904712 --- /dev/null +++ b/small/HSI_open_door/act_sonic_opendoor_0529/pretrained_model/config.json @@ -0,0 +1,63 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 20, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/small/HSI_open_door/act_sonic_opendoor_0529/pretrained_model/policy_postprocessor.json b/small/HSI_open_door/act_sonic_opendoor_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..bba8303252c414ba9a4815afc58dc5173ab27c5e --- /dev/null +++ b/small/HSI_open_door/act_sonic_opendoor_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HSI_open_door/act_sonic_opendoor_0529/pretrained_model/policy_preprocessor.json b/small/HSI_open_door/act_sonic_opendoor_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..cfd10af9e250e8f07e0a5988ec5b2c1eff02f374 --- /dev/null +++ b/small/HSI_open_door/act_sonic_opendoor_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HSI_open_door/act_sonic_opendoor_0529/pretrained_model/train_config.json b/small/HSI_open_door/act_sonic_opendoor_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7b82b4611f55864a7ad7a952098ca6b1d612c6d7 --- /dev/null +++ b/small/HSI_open_door/act_sonic_opendoor_0529/pretrained_model/train_config.json @@ -0,0 +1,154 @@ +{ + "dataset": { + "repo_id": "local/HSI_open_door_sonic_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HSI_open_door/HSI_open_door_sonic_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 20, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/HSI_open_door/act_HSI_open_door_sonic_refpose_v3_1", + "job_name": "act_HSI_open_door_sonic_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "3mfzhx4a", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HSI_open_door/act_sonic_opendoor_0529/training_state/optimizer_param_groups.json b/small/HSI_open_door/act_sonic_opendoor_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..33506df097b87c64b2aa15765ab89706780c0dc0 --- /dev/null +++ b/small/HSI_open_door/act_sonic_opendoor_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,191 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152 + ] + } +] \ No newline at end of file diff --git a/small/HSI_open_door/act_sonic_opendoor_0529/training_state/training_step.json b/small/HSI_open_door/act_sonic_opendoor_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HSI_open_door/act_sonic_opendoor_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HSI_open_door/diffusion_sonic_opendoor_0529/training_state/optimizer_param_groups.json b/small/HSI_open_door/diffusion_sonic_opendoor_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..5ad4a0652f3e90db3740c824423694349bd048f0 --- /dev/null +++ b/small/HSI_open_door/diffusion_sonic_opendoor_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,233 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 1e-06, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211 + ] + } +] \ No newline at end of file diff --git a/small/HSI_open_door/diffusion_sonic_opendoor_0529/training_state/scheduler_state.json b/small/HSI_open_door/diffusion_sonic_opendoor_0529/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..9026ed6a39a1d91fe6d3b91e0ded64aa35ee587b --- /dev/null +++ b/small/HSI_open_door/diffusion_sonic_opendoor_0529/training_state/scheduler_state.json @@ -0,0 +1,15 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/small/HSI_open_door/mtp_sonic_opendoor_0529/pretrained_model/config.json b/small/HSI_open_door/mtp_sonic_opendoor_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..dfada256f7f9c7b44506559cf87d3670f32bdad4 --- /dev/null +++ b/small/HSI_open_door/mtp_sonic_opendoor_0529/pretrained_model/config.json @@ -0,0 +1,94 @@ +{ + "type": "multi_task_dit", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 40, + "n_action_steps": 20, + "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": 100, + "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": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16", + "use_separate_rgb_encoder_per_camera": false, + "vision_encoder_lr_multiplier": 0.1, + "image_resize_shape": [ + 224, + 224 + ], + "image_crop_shape": null, + "image_crop_is_random": true, + "text_encoder_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/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": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "optimizer_lr": 2e-05, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 0.0, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 0, + "do_mask_loss_for_padding": false, + "drop_n_last_frames": 20 +} \ No newline at end of file diff --git a/small/HSI_open_door/mtp_sonic_opendoor_0529/pretrained_model/policy_postprocessor.json b/small/HSI_open_door/mtp_sonic_opendoor_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843 --- /dev/null +++ b/small/HSI_open_door/mtp_sonic_opendoor_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HSI_open_door/mtp_sonic_opendoor_0529/pretrained_model/policy_preprocessor.json b/small/HSI_open_door/mtp_sonic_opendoor_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..b93b2b34130aa01f598ea5bc191078d6b44ff217 --- /dev/null +++ b/small/HSI_open_door/mtp_sonic_opendoor_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,67 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "tokenizer_processor", + "config": { + "max_length": 77, + "task_key": "task", + "padding_side": "right", + "padding": "max_length", + "truncation": true, + "tokenizer_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16" + } + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HSI_open_door/mtp_sonic_opendoor_0529/pretrained_model/train_config.json b/small/HSI_open_door/mtp_sonic_opendoor_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f36d6d881f55040bebc40c48d90af680cbda8380 --- /dev/null +++ b/small/HSI_open_door/mtp_sonic_opendoor_0529/pretrained_model/train_config.json @@ -0,0 +1,191 @@ +{ + "dataset": { + "repo_id": "local/HSI_open_door_sonic_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HSI_open_door/HSI_open_door_sonic_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "multi_task_dit", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 40, + "n_action_steps": 20, + "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": 100, + "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": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16", + "use_separate_rgb_encoder_per_camera": false, + "vision_encoder_lr_multiplier": 0.1, + "image_resize_shape": [ + 224, + 224 + ], + "image_crop_shape": null, + "image_crop_is_random": true, + "text_encoder_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/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": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "optimizer_lr": 2e-05, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 0.0, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 0, + "do_mask_loss_for_padding": false, + "drop_n_last_frames": 20 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/small/HSI_open_door/mtp_HSI_open_door_sonic_refpose_v3_1", + "job_name": "mtp_HSI_open_door_sonic_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 2e-05, + "weight_decay": 0.0, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 0, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "xu46rmi9", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": { + "observation.images.front": "observation.images.image" + }, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HSI_open_door/mtp_sonic_opendoor_0529/training_state/optimizer_param_groups.json b/small/HSI_open_door/mtp_sonic_opendoor_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a57e3337d62522ee3a323472d91b7697952111 --- /dev/null +++ b/small/HSI_open_door/mtp_sonic_opendoor_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,309 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 2e-05, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69 + ] + }, + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 2.0000000000000003e-06, + "params": [ + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268 + ] + } +] \ No newline at end of file diff --git a/small/HSI_open_door/mtp_sonic_opendoor_0529/training_state/scheduler_state.json b/small/HSI_open_door/mtp_sonic_opendoor_0529/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..e304355204d1e372dd6e0743a6ce3c761e87bb8f --- /dev/null +++ b/small/HSI_open_door/mtp_sonic_opendoor_0529/training_state/scheduler_state.json @@ -0,0 +1,18 @@ +{ + "base_lrs": [ + 2e-05, + 2.0000000000000003e-06 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0, + 0.0 + ], + "lr_lambdas": [ + null, + null + ] +} \ No newline at end of file diff --git a/small/HSI_open_door/mtp_sonic_opendoor_0529/training_state/training_step.json b/small/HSI_open_door/mtp_sonic_opendoor_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HSI_open_door/mtp_sonic_opendoor_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/act_sonic_sitsofa_0529/pretrained_model/config.json b/small/HSI_sit_sofa/act_sonic_sitsofa_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..69f8e7d2e90fdd1cd2cd3e44cb1901c0a9904712 --- /dev/null +++ b/small/HSI_sit_sofa/act_sonic_sitsofa_0529/pretrained_model/config.json @@ -0,0 +1,63 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 20, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/act_sonic_sitsofa_0529/pretrained_model/policy_postprocessor.json b/small/HSI_sit_sofa/act_sonic_sitsofa_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..bba8303252c414ba9a4815afc58dc5173ab27c5e --- /dev/null +++ b/small/HSI_sit_sofa/act_sonic_sitsofa_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/act_sonic_sitsofa_0529/pretrained_model/policy_preprocessor.json b/small/HSI_sit_sofa/act_sonic_sitsofa_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..cfd10af9e250e8f07e0a5988ec5b2c1eff02f374 --- /dev/null +++ b/small/HSI_sit_sofa/act_sonic_sitsofa_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/act_sonic_sitsofa_0529/pretrained_model/train_config.json b/small/HSI_sit_sofa/act_sonic_sitsofa_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f333acf79b6fd8f8c2c6e5d650d7cbfd1bffd930 --- /dev/null +++ b/small/HSI_sit_sofa/act_sonic_sitsofa_0529/pretrained_model/train_config.json @@ -0,0 +1,154 @@ +{ + "dataset": { + "repo_id": "local/HSI_sit_sofa_sonic_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HSI_sit_sofa/HSI_sit_sofa_sonic_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 20, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/HSI_sit_sofa/act_HSI_sit_sofa_sonic_refpose_v3_1", + "job_name": "act_HSI_sit_sofa_sonic_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "pf71jxeg", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/act_sonic_sitsofa_0529/training_state/optimizer_param_groups.json b/small/HSI_sit_sofa/act_sonic_sitsofa_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..33506df097b87c64b2aa15765ab89706780c0dc0 --- /dev/null +++ b/small/HSI_sit_sofa/act_sonic_sitsofa_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,191 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152 + ] + } +] \ No newline at end of file diff --git a/small/HSI_sit_sofa/act_sonic_sitsofa_0529/training_state/training_step.json b/small/HSI_sit_sofa/act_sonic_sitsofa_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HSI_sit_sofa/act_sonic_sitsofa_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/act_twist2_sitsofa_0529/pretrained_model/config.json b/small/HSI_sit_sofa/act_twist2_sitsofa_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..69f8e7d2e90fdd1cd2cd3e44cb1901c0a9904712 --- /dev/null +++ b/small/HSI_sit_sofa/act_twist2_sitsofa_0529/pretrained_model/config.json @@ -0,0 +1,63 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 20, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/act_twist2_sitsofa_0529/pretrained_model/policy_postprocessor.json b/small/HSI_sit_sofa/act_twist2_sitsofa_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..bba8303252c414ba9a4815afc58dc5173ab27c5e --- /dev/null +++ b/small/HSI_sit_sofa/act_twist2_sitsofa_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/act_twist2_sitsofa_0529/pretrained_model/policy_preprocessor.json b/small/HSI_sit_sofa/act_twist2_sitsofa_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..cfd10af9e250e8f07e0a5988ec5b2c1eff02f374 --- /dev/null +++ b/small/HSI_sit_sofa/act_twist2_sitsofa_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/act_twist2_sitsofa_0529/pretrained_model/train_config.json b/small/HSI_sit_sofa/act_twist2_sitsofa_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c5027054db10623e5d93af204e8fc4dc44c1d612 --- /dev/null +++ b/small/HSI_sit_sofa/act_twist2_sitsofa_0529/pretrained_model/train_config.json @@ -0,0 +1,154 @@ +{ + "dataset": { + "repo_id": "local/HSI_sit_sofa_twist2_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HSI_sit_sofa/HSI_sit_sofa_twist2_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "chunk_size": 20, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 512, + "n_heads": 8, + "dim_feedforward": 3200, + "feedforward_activation": "relu", + "n_encoder_layers": 4, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/HSI_sit_sofa/act_HSI_sit_sofa_twist2_refpose_v3_1", + "job_name": "act_HSI_sit_sofa_twist2_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "05lvm668", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/act_twist2_sitsofa_0529/training_state/optimizer_param_groups.json b/small/HSI_sit_sofa/act_twist2_sitsofa_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..33506df097b87c64b2aa15765ab89706780c0dc0 --- /dev/null +++ b/small/HSI_sit_sofa/act_twist2_sitsofa_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,191 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152 + ] + } +] \ No newline at end of file diff --git a/small/HSI_sit_sofa/act_twist2_sitsofa_0529/training_state/training_step.json b/small/HSI_sit_sofa/act_twist2_sitsofa_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HSI_sit_sofa/act_twist2_sitsofa_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/pretrained_model/config.json b/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..460ea67ad033f7b6b1b2c5c9ba2175c8e1468e8d --- /dev/null +++ b/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/pretrained_model/config.json @@ -0,0 +1,87 @@ +{ + "type": "diffusion", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 24, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "resize_shape": [ + 224, + 224 + ], + "crop_ratio": 1.0, + "crop_shape": null, + "crop_is_random": true, + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "use_group_norm": false, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": false, + "down_dims": [ + 512, + 1024, + 2048 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "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, + "compile_model": false, + "compile_mode": "reduce-overhead", + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/pretrained_model/policy_postprocessor.json b/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843 --- /dev/null +++ b/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/pretrained_model/policy_preprocessor.json b/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..9e1ab41ada69949b579d7350b9246d04cc832387 --- /dev/null +++ b/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/pretrained_model/train_config.json b/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..efedd20a6d4345503a2d8aa129e8b77a2ab8e766 --- /dev/null +++ b/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/pretrained_model/train_config.json @@ -0,0 +1,182 @@ +{ + "dataset": { + "repo_id": "local/HSI_sit_sofa_sonic_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HSI_sit_sofa/HSI_sit_sofa_sonic_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "diffusion", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 24, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "resize_shape": [ + 224, + 224 + ], + "crop_ratio": 1.0, + "crop_shape": null, + "crop_is_random": true, + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "use_group_norm": false, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": false, + "down_dims": [ + 512, + 1024, + 2048 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "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, + "compile_model": false, + "compile_mode": "reduce-overhead", + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/small/HSI_sit_sofa/diffusion_HSI_sit_sofa_sonic_refpose_v3_1", + "job_name": "diffusion_HSI_sit_sofa_sonic_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 0.0001, + "weight_decay": 1e-06, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 500, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "5lv4huze", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/training_state/optimizer_param_groups.json b/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..5ad4a0652f3e90db3740c824423694349bd048f0 --- /dev/null +++ b/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,233 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 1e-06, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211 + ] + } +] \ No newline at end of file diff --git a/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/training_state/scheduler_state.json b/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..9026ed6a39a1d91fe6d3b91e0ded64aa35ee587b --- /dev/null +++ b/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/training_state/scheduler_state.json @@ -0,0 +1,15 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/training_state/training_step.json b/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HSI_sit_sofa/diffusion_sonic_sitsofa_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/pretrained_model/config.json b/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..460ea67ad033f7b6b1b2c5c9ba2175c8e1468e8d --- /dev/null +++ b/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/pretrained_model/config.json @@ -0,0 +1,87 @@ +{ + "type": "diffusion", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 24, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "resize_shape": [ + 224, + 224 + ], + "crop_ratio": 1.0, + "crop_shape": null, + "crop_is_random": true, + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "use_group_norm": false, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": false, + "down_dims": [ + 512, + 1024, + 2048 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "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, + "compile_model": false, + "compile_mode": "reduce-overhead", + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/pretrained_model/policy_postprocessor.json b/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843 --- /dev/null +++ b/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/pretrained_model/policy_preprocessor.json b/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..9e1ab41ada69949b579d7350b9246d04cc832387 --- /dev/null +++ b/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,56 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/pretrained_model/train_config.json b/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..6af2ac7d9cf476e323fa0c6240336c30f5071571 --- /dev/null +++ b/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/pretrained_model/train_config.json @@ -0,0 +1,182 @@ +{ + "dataset": { + "repo_id": "local/HSI_sit_sofa_twist2_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HSI_sit_sofa/HSI_sit_sofa_twist2_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "diffusion", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 24, + "n_action_steps": 20, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "drop_n_last_frames": 7, + "vision_backbone": "resnet18", + "resize_shape": [ + 224, + 224 + ], + "crop_ratio": 1.0, + "crop_shape": null, + "crop_is_random": true, + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "use_group_norm": false, + "spatial_softmax_num_keypoints": 32, + "use_separate_rgb_encoder_per_camera": false, + "down_dims": [ + 512, + 1024, + 2048 + ], + "kernel_size": 5, + "n_groups": 8, + "diffusion_step_embed_dim": 128, + "use_film_scale_modulation": true, + "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, + "compile_model": false, + "compile_mode": "reduce-overhead", + "do_mask_loss_for_padding": false, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-06, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 500 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/small/HSI_sit_sofa/diffusion_HSI_sit_sofa_twist2_refpose_v3_1", + "job_name": "diffusion_HSI_sit_sofa_twist2_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 0.0001, + "weight_decay": 1e-06, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 500, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "gf0pt5vh", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/training_state/optimizer_param_groups.json b/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..5ad4a0652f3e90db3740c824423694349bd048f0 --- /dev/null +++ b/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,233 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 1e-06, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 0.0001, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211 + ] + } +] \ No newline at end of file diff --git a/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/training_state/scheduler_state.json b/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..9026ed6a39a1d91fe6d3b91e0ded64aa35ee587b --- /dev/null +++ b/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/training_state/scheduler_state.json @@ -0,0 +1,15 @@ +{ + "base_lrs": [ + 0.0001 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0 + ], + "lr_lambdas": [ + null + ] +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/training_state/training_step.json b/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HSI_sit_sofa/diffusion_twist2_sitsofa_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/pretrained_model/config.json b/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..dfada256f7f9c7b44506559cf87d3670f32bdad4 --- /dev/null +++ b/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/pretrained_model/config.json @@ -0,0 +1,94 @@ +{ + "type": "multi_task_dit", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 40, + "n_action_steps": 20, + "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": 100, + "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": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16", + "use_separate_rgb_encoder_per_camera": false, + "vision_encoder_lr_multiplier": 0.1, + "image_resize_shape": [ + 224, + 224 + ], + "image_crop_shape": null, + "image_crop_is_random": true, + "text_encoder_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/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": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "optimizer_lr": 2e-05, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 0.0, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 0, + "do_mask_loss_for_padding": false, + "drop_n_last_frames": 20 +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/pretrained_model/policy_postprocessor.json b/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843 --- /dev/null +++ b/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/pretrained_model/policy_preprocessor.json b/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..b93b2b34130aa01f598ea5bc191078d6b44ff217 --- /dev/null +++ b/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,67 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "tokenizer_processor", + "config": { + "max_length": 77, + "task_key": "task", + "padding_side": "right", + "padding": "max_length", + "truncation": true, + "tokenizer_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16" + } + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/pretrained_model/train_config.json b/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3c067018a2b30fcb76173d40c24c8295524c0eaa --- /dev/null +++ b/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/pretrained_model/train_config.json @@ -0,0 +1,191 @@ +{ + "dataset": { + "repo_id": "local/HSI_sit_sofa_sonic_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HSI_sit_sofa/HSI_sit_sofa_sonic_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "multi_task_dit", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 40, + "n_action_steps": 20, + "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": 100, + "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": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16", + "use_separate_rgb_encoder_per_camera": false, + "vision_encoder_lr_multiplier": 0.1, + "image_resize_shape": [ + 224, + 224 + ], + "image_crop_shape": null, + "image_crop_is_random": true, + "text_encoder_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/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": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "optimizer_lr": 2e-05, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 0.0, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 0, + "do_mask_loss_for_padding": false, + "drop_n_last_frames": 20 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/small/HSI_sit_sofa/mtp_HSI_sit_sofa_sonic_refpose_v3_1", + "job_name": "mtp_HSI_sit_sofa_sonic_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 2e-05, + "weight_decay": 0.0, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 0, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "5oakmicy", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": { + "observation.images.front": "observation.images.image" + }, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/training_state/optimizer_param_groups.json b/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a57e3337d62522ee3a323472d91b7697952111 --- /dev/null +++ b/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,309 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 2e-05, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69 + ] + }, + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 2.0000000000000003e-06, + "params": [ + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268 + ] + } +] \ No newline at end of file diff --git a/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/training_state/scheduler_state.json b/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..e304355204d1e372dd6e0743a6ce3c761e87bb8f --- /dev/null +++ b/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/training_state/scheduler_state.json @@ -0,0 +1,18 @@ +{ + "base_lrs": [ + 2e-05, + 2.0000000000000003e-06 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0, + 0.0 + ], + "lr_lambdas": [ + null, + null + ] +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/training_state/training_step.json b/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HSI_sit_sofa/mtp_sonic_sitsofa_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/pretrained_model/config.json b/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..dfada256f7f9c7b44506559cf87d3670f32bdad4 --- /dev/null +++ b/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/pretrained_model/config.json @@ -0,0 +1,94 @@ +{ + "type": "multi_task_dit", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 40, + "n_action_steps": 20, + "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": 100, + "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": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16", + "use_separate_rgb_encoder_per_camera": false, + "vision_encoder_lr_multiplier": 0.1, + "image_resize_shape": [ + 224, + 224 + ], + "image_crop_shape": null, + "image_crop_is_random": true, + "text_encoder_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/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": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "optimizer_lr": 2e-05, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 0.0, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 0, + "do_mask_loss_for_padding": false, + "drop_n_last_frames": 20 +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/pretrained_model/policy_postprocessor.json b/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843 --- /dev/null +++ b/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/pretrained_model/policy_postprocessor.json @@ -0,0 +1,32 @@ +{ + "name": "policy_postprocessor", + "steps": [ + { + "registry_name": "unnormalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/pretrained_model/policy_preprocessor.json b/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..b93b2b34130aa01f598ea5bc191078d6b44ff217 --- /dev/null +++ b/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/pretrained_model/policy_preprocessor.json @@ -0,0 +1,67 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "tokenizer_processor", + "config": { + "max_length": 77, + "task_key": "task", + "padding_side": "right", + "padding": "max_length", + "truncation": true, + "tokenizer_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16" + } + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MIN_MAX", + "ACTION": "MIN_MAX" + } + }, + "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/pretrained_model/train_config.json b/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0cf02bdba4ccd9633b56b578da858708645777cf --- /dev/null +++ b/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/pretrained_model/train_config.json @@ -0,0 +1,191 @@ +{ + "dataset": { + "repo_id": "local/HSI_sit_sofa_twist2_refpose_v3_1", + "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HSI_sit_sofa/HSI_sit_sofa_twist2_refpose_v3_1", + "episodes": null, + "image_transforms": { + "enable": true, + "max_num_transforms": 2, + "random_order": false, + "tfs": { + "resize": { + "weight": 1.0, + "type": "Resize", + "kwargs": { + "size": [ + 168, + 224 + ] + } + }, + "pad": { + "weight": 1.0, + "type": "Pad", + "kwargs": { + "padding": [ + 0, + 28, + 0, + 28 + ], + "fill": 0 + } + } + } + }, + "revision": null, + "use_imagenet_stats": true, + "video_backend": "torchcodec", + "streaming": false + }, + "env": null, + "policy": { + "type": "multi_task_dit", + "n_obs_steps": 1, + "input_features": { + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 64 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 40 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": null, + "horizon": 40, + "n_action_steps": 20, + "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": 100, + "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": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/clip-vit-base-patch16", + "use_separate_rgb_encoder_per_camera": false, + "vision_encoder_lr_multiplier": 0.1, + "image_resize_shape": [ + 224, + 224 + ], + "image_crop_shape": null, + "image_crop_is_random": true, + "text_encoder_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/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": "MIN_MAX", + "ACTION": "MIN_MAX" + }, + "optimizer_lr": 2e-05, + "optimizer_betas": [ + 0.95, + 0.999 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 0.0, + "scheduler_name": "cosine", + "scheduler_warmup_steps": 0, + "do_mask_loss_for_padding": false, + "drop_n_last_frames": 20 + }, + "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/small/HSI_sit_sofa/mtp_HSI_sit_sofa_twist2_refpose_v3_1", + "job_name": "mtp_HSI_sit_sofa_twist2_refpose_v3_1", + "resume": false, + "seed": 42, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 64, + "steps": 100000, + "eval_freq": 20000, + "log_freq": 200, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 20000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adam", + "lr": 2e-05, + "weight_decay": 0.0, + "grad_clip_norm": 10.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": { + "type": "diffuser", + "num_warmup_steps": 0, + "name": "cosine" + }, + "eval": { + "n_episodes": 50, + "batch_size": 50, + "use_async_envs": false + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "3cq9swgn", + "mode": "offline", + "add_tags": true + }, + "peft": null, + "use_rabc": false, + "rabc_progress_path": null, + "rabc_kappa": 0.01, + "rabc_epsilon": 1e-06, + "rabc_head_mode": "sparse", + "rename_map": { + "observation.images.front": "observation.images.image" + }, + "checkpoint_path": null +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/training_state/optimizer_param_groups.json b/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a57e3337d62522ee3a323472d91b7697952111 --- /dev/null +++ b/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/training_state/optimizer_param_groups.json @@ -0,0 +1,309 @@ +[ + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 2e-05, + "params": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69 + ] + }, + { + "lr": 0.0, + "betas": [ + 0.95, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": false, + "initial_lr": 2.0000000000000003e-06, + "params": [ + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268 + ] + } +] \ No newline at end of file diff --git a/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/training_state/scheduler_state.json b/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/training_state/scheduler_state.json new file mode 100644 index 0000000000000000000000000000000000000000..e304355204d1e372dd6e0743a6ce3c761e87bb8f --- /dev/null +++ b/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/training_state/scheduler_state.json @@ -0,0 +1,18 @@ +{ + "base_lrs": [ + 2e-05, + 2.0000000000000003e-06 + ], + "last_epoch": 100000, + "_step_count": 100001, + "_is_initial": false, + "_get_lr_called_within_step": false, + "_last_lr": [ + 0.0, + 0.0 + ], + "lr_lambdas": [ + null, + null + ] +} \ No newline at end of file diff --git a/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/training_state/training_step.json b/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012 --- /dev/null +++ b/small/HSI_sit_sofa/mtp_twist2_sitsofa_0529/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 100000 +} \ No newline at end of file