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end-effector-trace-conditioning
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molmoact2-500ep-eetc

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LeRobot
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molmoact2
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molmoact2-500ep-eetc
File size: 3,883 Bytes
7a077b2
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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{
    "type": "molmoact2",
    "n_obs_steps": 1,
    "input_features": {
        "observation.images.middle": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        },
        "observation.images.wrist": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        },
        "observation.state": {
            "type": "STATE",
            "shape": [
                6
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                6
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": true,
    "repo_id": "justintiensmith/molmoact2_500eps_endeffector_trace",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": "/projects/u6ph/jtiensmith.u6ph/outputs/molmoact2_500eps_endeffector_trace_6158640/checkpoints/last/pretrained_model",
    "pretrained_revision": null,
    "checkpoint_path": "allenai/MolmoAct2",
    "checkpoint_revision": "e432d85f6e039edca44afb93c262f3084ab72a9c",
    "checkpoint_force_download": false,
    "chunk_size": 30,
    "n_action_steps": 30,
    "action_mode": "continuous",
    "inference_action_mode": "continuous",
    "discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer",
    "discrete_generation_max_steps": null,
    "norm_tag": null,
    "setup_type": "single so100/so101 robotic arm in molmoact2",
    "control_mode": "absolute joint pose",
    "image_keys": [
        "observation.images.middle",
        "observation.images.wrist"
    ],
    "normalize_language": true,
    "add_setup_tokens": true,
    "add_control_tokens": true,
    "normalize_gripper": true,
    "num_state_tokens": 256,
    "max_sequence_length": null,
    "expected_max_action_dim": 32,
    "num_flow_timesteps": 8,
    "flow_matching_cutoff": 1.0,
    "flow_matching_time_offset": 0.001,
    "flow_matching_time_scale": 0.999,
    "flow_matching_beta_alpha": 1.0,
    "flow_matching_beta_beta": 1.5,
    "num_inference_steps": null,
    "mask_action_dim_padding": true,
    "enable_inference_cuda_graph": true,
    "per_episode_seed": false,
    "eval_seed": null,
    "rtc_config": null,
    "joint_signs": null,
    "joint_offsets": null,
    "enable_lora_vlm": false,
    "lora_rank": 64,
    "lora_alpha": 16,
    "lora_dropout": 0.05,
    "lora_bias": "none",
    "enable_lora_action_expert": false,
    "enable_knowledge_insulation": false,
    "freeze_embedding": true,
    "train_action_expert_only": false,
    "gradient_checkpointing": true,
    "model_dtype": "bfloat16",
    "softmax_auxiliary_loss": true,
    "softmax_auxiliary_loss_scale": 0.0001,
    "discrete_loss_token_weighting": "root_subsegments_root_tokens",
    "optimizer_lr": 1e-05,
    "optimizer_vit_lr": 5e-06,
    "optimizer_connector_lr": 5e-06,
    "optimizer_action_expert_lr": 5e-05,
    "optimizer_betas": [
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        0.95
    ],
    "optimizer_eps": 1e-06,
    "optimizer_weight_decay": 0.0,
    "optimizer_grad_clip_norm": 1.0,
    "scheduler_warmup_steps": 200,
    "scheduler_decay_steps": 40180,
    "scheduler_decay_lr": 1e-06,
    "normalization_mapping": {
        "ACTION": "MIN_MAX",
        "STATE": "MIN_MAX",
        "VISUAL": "IDENTITY"
    },
    "dataset_feature_names": {
        "action": [
            "shoulder_pan.pos",
            "shoulder_lift.pos",
            "elbow_flex.pos",
            "wrist_flex.pos",
            "wrist_roll.pos",
            "gripper.pos"
        ],
        "observation.state": [
            "shoulder_pan.pos",
            "shoulder_lift.pos",
            "elbow_flex.pos",
            "wrist_flex.pos",
            "wrist_roll.pos",
            "gripper.pos"
        ]
    }
}