Hugging Face's logo

leapshared
/
Electroscope_113epi_subtask_pi05

Robotics
LeRobot
Safetensors
pi05
Model card Files
xet
 Community
leapshared commited on
Commit
b64509a
·
verified ·
1 Parent(s): b0fe64f

checkpoint 005000

Browse files
Files changed (7) hide show
  1. checkpoints/005000/pretrained_model/config.json +118 -0
  2. checkpoints/005000/pretrained_model/model.safetensors +3 -0
  3. checkpoints/005000/pretrained_model/policy_postprocessor.json +38 -0
  4. checkpoints/005000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  5. checkpoints/005000/pretrained_model/policy_preprocessor.json +97 -0
  6. checkpoints/005000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  7. checkpoints/005000/pretrained_model/train_config.json +376 -0
checkpoints/005000/pretrained_model/config.json ADDED
@@ -0,0 +1,118 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "pi05",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 16
9
+ ]
10
+ },
11
+ "observation.images.follower_d455f": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ },
19
+ "observation.images.left_wrist": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 480,
24
+ 640
25
+ ]
26
+ },
27
+ "observation.images.right_wrist": {
28
+ "type": "VISUAL",
29
+ "shape": [
30
+ 3,
31
+ 480,
32
+ 640
33
+ ]
34
+ }
35
+ },
36
+ "output_features": {
37
+ "action": {
38
+ "type": "ACTION",
39
+ "shape": [
40
+ 16
41
+ ]
42
+ }
43
+ },
44
+ "device": "cuda",
45
+ "use_amp": false,
46
+ "use_peft": false,
47
+ "push_to_hub": true,
48
+ "repo_id": "leapshared/Electroscope_113epi_subtask_pi05",
49
+ "private": null,
50
+ "tags": null,
51
+ "license": null,
52
+ "pretrained_path": "lerobot/pi05_base",
53
+ "pretrained_revision": null,
54
+ "paligemma_variant": "gemma_2b",
55
+ "action_expert_variant": "gemma_300m",
56
+ "dtype": "float32",
57
+ "chunk_size": 50,
58
+ "n_action_steps": 50,
59
+ "max_state_dim": 32,
60
+ "max_action_dim": 32,
61
+ "num_inference_steps": 10,
62
+ "time_sampling_beta_alpha": 1.5,
63
+ "time_sampling_beta_beta": 1.0,
64
+ "time_sampling_scale": 0.999,
65
+ "time_sampling_offset": 0.001,
66
+ "min_period": 0.004,
67
+ "max_period": 4.0,
68
+ "use_relative_actions": false,
69
+ "relative_exclude_joints": [
70
+ "gripper"
71
+ ],
72
+ "action_feature_names": [
73
+ "left_joint_1.pos",
74
+ "left_joint_2.pos",
75
+ "left_joint_3.pos",
76
+ "left_joint_4.pos",
77
+ "left_joint_5.pos",
78
+ "left_joint_6.pos",
79
+ "left_joint_7.pos",
80
+ "left_gripper.pos",
81
+ "right_joint_1.pos",
82
+ "right_joint_2.pos",
83
+ "right_joint_3.pos",
84
+ "right_joint_4.pos",
85
+ "right_joint_5.pos",
86
+ "right_joint_6.pos",
87
+ "right_joint_7.pos",
88
+ "right_gripper.pos"
89
+ ],
90
+ "rtc_config": null,
91
+ "image_resolution": [
92
+ 224,
93
+ 224
94
+ ],
95
+ "empty_cameras": 0,
96
+ "tokenizer_max_length": 200,
97
+ "normalization_mapping": {
98
+ "VISUAL": "IDENTITY",
99
+ "STATE": "QUANTILES",
100
+ "ACTION": "QUANTILES"
101
+ },
102
+ "gradient_checkpointing": true,
103
+ "compile_model": false,
104
+ "compile_mode": "default",
105
+ "freeze_vision_encoder": false,
106
+ "train_expert_only": false,
107
+ "optimizer_lr": 2.5e-05,
108
+ "optimizer_betas": [
109
+ 0.9,
110
+ 0.95
111
+ ],
112
+ "optimizer_eps": 1e-08,
113
+ "optimizer_weight_decay": 0.01,
114
+ "optimizer_grad_clip_norm": 1.0,
115
+ "scheduler_warmup_steps": 1000,
116
+ "scheduler_decay_steps": 30000,
117
+ "scheduler_decay_lr": 2.5e-06
118
+ }
checkpoints/005000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4e86ba700f83ffddd09318a0605dc302cd60d38038d7e135e8db8ac0ca869610
3
+ size 16573760032
checkpoints/005000/pretrained_model/policy_postprocessor.json ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 16
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "IDENTITY",
18
+ "STATE": "QUANTILES",
19
+ "ACTION": "QUANTILES"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "absolute_actions_processor",
26
+ "config": {
27
+ "enabled": false
28
+ }
29
+ },
30
+ {
31
+ "registry_name": "device_processor",
32
+ "config": {
33
+ "device": "cpu",
34
+ "float_dtype": null
35
+ }
36
+ }
37
+ ]
38
+ }
checkpoints/005000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7f2f0518da5cc57d3a50cd934969a5d57c8c2c6ec30d1cf052ee8fde81cb3194
3
+ size 9552
checkpoints/005000/pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,97 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "relative_actions_processor",
16
+ "config": {
17
+ "enabled": false,
18
+ "exclude_joints": [
19
+ "gripper"
20
+ ],
21
+ "action_names": null
22
+ }
23
+ },
24
+ {
25
+ "registry_name": "normalizer_processor",
26
+ "config": {
27
+ "eps": 1e-08,
28
+ "features": {
29
+ "observation.state": {
30
+ "type": "STATE",
31
+ "shape": [
32
+ 16
33
+ ]
34
+ },
35
+ "observation.images.follower_d455f": {
36
+ "type": "VISUAL",
37
+ "shape": [
38
+ 3,
39
+ 480,
40
+ 640
41
+ ]
42
+ },
43
+ "observation.images.left_wrist": {
44
+ "type": "VISUAL",
45
+ "shape": [
46
+ 3,
47
+ 480,
48
+ 640
49
+ ]
50
+ },
51
+ "observation.images.right_wrist": {
52
+ "type": "VISUAL",
53
+ "shape": [
54
+ 3,
55
+ 480,
56
+ 640
57
+ ]
58
+ },
59
+ "action": {
60
+ "type": "ACTION",
61
+ "shape": [
62
+ 16
63
+ ]
64
+ }
65
+ },
66
+ "norm_map": {
67
+ "VISUAL": "IDENTITY",
68
+ "STATE": "QUANTILES",
69
+ "ACTION": "QUANTILES"
70
+ }
71
+ },
72
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
73
+ },
74
+ {
75
+ "registry_name": "pi05_prepare_state_tokenizer_processor_step",
76
+ "config": {}
77
+ },
78
+ {
79
+ "registry_name": "tokenizer_processor",
80
+ "config": {
81
+ "max_length": 200,
82
+ "task_key": "task",
83
+ "padding_side": "right",
84
+ "padding": "max_length",
85
+ "truncation": true,
86
+ "tokenizer_name": "google/paligemma-3b-pt-224"
87
+ }
88
+ },
89
+ {
90
+ "registry_name": "device_processor",
91
+ "config": {
92
+ "device": "cuda",
93
+ "float_dtype": null
94
+ }
95
+ }
96
+ ]
97
+ }
checkpoints/005000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5c41a5f915395bfd15c595bb15b0fa6c5186b31d817ddf939e898c265126dad6
3
+ size 9568
checkpoints/005000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,376 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "leapshared/Electroscope_113epi_subtask",
4
+ "repo_type": "dataset",
5
+ "root": "/home/work/LEAP/hf_cache/lerobot/leapshared/Electroscope_113epi_subtask",
6
+ "episodes": [
7
+ 0,
8
+ 1,
9
+ 2,
10
+ 3,
11
+ 4,
12
+ 5,
13
+ 6,
14
+ 8,
15
+ 9,
16
+ 10,
17
+ 11,
18
+ 12,
19
+ 13,
20
+ 14,
21
+ 15,
22
+ 17,
23
+ 19,
24
+ 20,
25
+ 21,
26
+ 22,
27
+ 23,
28
+ 24,
29
+ 25,
30
+ 26,
31
+ 28,
32
+ 29,
33
+ 30,
34
+ 31,
35
+ 32,
36
+ 33,
37
+ 34,
38
+ 36,
39
+ 37,
40
+ 38,
41
+ 39,
42
+ 40,
43
+ 41,
44
+ 42,
45
+ 43,
46
+ 45,
47
+ 46,
48
+ 48,
49
+ 49,
50
+ 50,
51
+ 51,
52
+ 52,
53
+ 53,
54
+ 54,
55
+ 55,
56
+ 56,
57
+ 57,
58
+ 58,
59
+ 59,
60
+ 60,
61
+ 61,
62
+ 62,
63
+ 63,
64
+ 64,
65
+ 65,
66
+ 66,
67
+ 68,
68
+ 69,
69
+ 70,
70
+ 71,
71
+ 72,
72
+ 73,
73
+ 74,
74
+ 75,
75
+ 76,
76
+ 77,
77
+ 78,
78
+ 79,
79
+ 80,
80
+ 81,
81
+ 82,
82
+ 84,
83
+ 85,
84
+ 86,
85
+ 88,
86
+ 89,
87
+ 90,
88
+ 91,
89
+ 92,
90
+ 93,
91
+ 94,
92
+ 95,
93
+ 96,
94
+ 97,
95
+ 98,
96
+ 99,
97
+ 100,
98
+ 101,
99
+ 102,
100
+ 103,
101
+ 104,
102
+ 105,
103
+ 106,
104
+ 108,
105
+ 109,
106
+ 110,
107
+ 111,
108
+ 112
109
+ ],
110
+ "image_transforms": {
111
+ "enable": true,
112
+ "max_num_transforms": 3,
113
+ "random_order": false,
114
+ "tfs": {
115
+ "brightness": {
116
+ "weight": 1.0,
117
+ "type": "ColorJitter",
118
+ "kwargs": {
119
+ "brightness": [
120
+ 0.8,
121
+ 1.2
122
+ ]
123
+ }
124
+ },
125
+ "contrast": {
126
+ "weight": 1.0,
127
+ "type": "ColorJitter",
128
+ "kwargs": {
129
+ "contrast": [
130
+ 0.8,
131
+ 1.2
132
+ ]
133
+ }
134
+ },
135
+ "saturation": {
136
+ "weight": 1.0,
137
+ "type": "ColorJitter",
138
+ "kwargs": {
139
+ "saturation": [
140
+ 0.5,
141
+ 1.5
142
+ ]
143
+ }
144
+ },
145
+ "hue": {
146
+ "weight": 1.0,
147
+ "type": "ColorJitter",
148
+ "kwargs": {
149
+ "hue": [
150
+ -0.05,
151
+ 0.05
152
+ ]
153
+ }
154
+ },
155
+ "sharpness": {
156
+ "weight": 1.0,
157
+ "type": "SharpnessJitter",
158
+ "kwargs": {
159
+ "sharpness": [
160
+ 0.5,
161
+ 1.5
162
+ ]
163
+ }
164
+ },
165
+ "affine": {
166
+ "weight": 1.0,
167
+ "type": "RandomAffine",
168
+ "kwargs": {
169
+ "degrees": [
170
+ -5.0,
171
+ 5.0
172
+ ],
173
+ "translate": [
174
+ 0.05,
175
+ 0.05
176
+ ]
177
+ }
178
+ }
179
+ }
180
+ },
181
+ "revision": null,
182
+ "use_imagenet_stats": true,
183
+ "video_backend": "torchcodec",
184
+ "return_uint8": false,
185
+ "depth_output_unit": "mm",
186
+ "streaming": false,
187
+ "eval_split": 0.0
188
+ },
189
+ "env": null,
190
+ "policy": {
191
+ "type": "pi05",
192
+ "n_obs_steps": 1,
193
+ "input_features": {
194
+ "observation.state": {
195
+ "type": "STATE",
196
+ "shape": [
197
+ 16
198
+ ]
199
+ },
200
+ "observation.images.follower_d455f": {
201
+ "type": "VISUAL",
202
+ "shape": [
203
+ 3,
204
+ 480,
205
+ 640
206
+ ]
207
+ },
208
+ "observation.images.left_wrist": {
209
+ "type": "VISUAL",
210
+ "shape": [
211
+ 3,
212
+ 480,
213
+ 640
214
+ ]
215
+ },
216
+ "observation.images.right_wrist": {
217
+ "type": "VISUAL",
218
+ "shape": [
219
+ 3,
220
+ 480,
221
+ 640
222
+ ]
223
+ }
224
+ },
225
+ "output_features": {
226
+ "action": {
227
+ "type": "ACTION",
228
+ "shape": [
229
+ 16
230
+ ]
231
+ }
232
+ },
233
+ "device": "cuda",
234
+ "use_amp": false,
235
+ "use_peft": false,
236
+ "push_to_hub": true,
237
+ "repo_id": "leapshared/Electroscope_113epi_subtask_pi05",
238
+ "private": null,
239
+ "tags": null,
240
+ "license": null,
241
+ "pretrained_path": "lerobot/pi05_base",
242
+ "pretrained_revision": null,
243
+ "paligemma_variant": "gemma_2b",
244
+ "action_expert_variant": "gemma_300m",
245
+ "dtype": "float32",
246
+ "chunk_size": 50,
247
+ "n_action_steps": 50,
248
+ "max_state_dim": 32,
249
+ "max_action_dim": 32,
250
+ "num_inference_steps": 10,
251
+ "time_sampling_beta_alpha": 1.5,
252
+ "time_sampling_beta_beta": 1.0,
253
+ "time_sampling_scale": 0.999,
254
+ "time_sampling_offset": 0.001,
255
+ "min_period": 0.004,
256
+ "max_period": 4.0,
257
+ "use_relative_actions": false,
258
+ "relative_exclude_joints": [
259
+ "gripper"
260
+ ],
261
+ "action_feature_names": [
262
+ "left_joint_1.pos",
263
+ "left_joint_2.pos",
264
+ "left_joint_3.pos",
265
+ "left_joint_4.pos",
266
+ "left_joint_5.pos",
267
+ "left_joint_6.pos",
268
+ "left_joint_7.pos",
269
+ "left_gripper.pos",
270
+ "right_joint_1.pos",
271
+ "right_joint_2.pos",
272
+ "right_joint_3.pos",
273
+ "right_joint_4.pos",
274
+ "right_joint_5.pos",
275
+ "right_joint_6.pos",
276
+ "right_joint_7.pos",
277
+ "right_gripper.pos"
278
+ ],
279
+ "rtc_config": null,
280
+ "image_resolution": [
281
+ 224,
282
+ 224
283
+ ],
284
+ "empty_cameras": 0,
285
+ "tokenizer_max_length": 200,
286
+ "normalization_mapping": {
287
+ "VISUAL": "IDENTITY",
288
+ "STATE": "QUANTILES",
289
+ "ACTION": "QUANTILES"
290
+ },
291
+ "gradient_checkpointing": true,
292
+ "compile_model": false,
293
+ "compile_mode": "default",
294
+ "freeze_vision_encoder": false,
295
+ "train_expert_only": false,
296
+ "optimizer_lr": 2.5e-05,
297
+ "optimizer_betas": [
298
+ 0.9,
299
+ 0.95
300
+ ],
301
+ "optimizer_eps": 1e-08,
302
+ "optimizer_weight_decay": 0.01,
303
+ "optimizer_grad_clip_norm": 1.0,
304
+ "scheduler_warmup_steps": 1000,
305
+ "scheduler_decay_steps": 30000,
306
+ "scheduler_decay_lr": 2.5e-06
307
+ },
308
+ "reward_model": null,
309
+ "output_dir": "/home/work/LEAP/outputs/train/Electroscope_113epi_subtask_pi05",
310
+ "job_name": "Electroscope_113epi_subtask_pi05",
311
+ "resume": false,
312
+ "seed": 42,
313
+ "cudnn_deterministic": false,
314
+ "num_workers": 12,
315
+ "batch_size": 32,
316
+ "prefetch_factor": 2,
317
+ "persistent_workers": true,
318
+ "dataloader_multiprocessing_context": "spawn",
319
+ "steps": 30000,
320
+ "env_eval_freq": 0,
321
+ "log_freq": 100,
322
+ "eval_steps": 0,
323
+ "max_eval_samples": 0,
324
+ "tolerance_s": 0.0001,
325
+ "save_checkpoint": true,
326
+ "save_freq": 5000,
327
+ "use_policy_training_preset": true,
328
+ "optimizer": {
329
+ "type": "adamw",
330
+ "lr": 2.5e-05,
331
+ "weight_decay": 0.01,
332
+ "grad_clip_norm": 1.0,
333
+ "betas": [
334
+ 0.9,
335
+ 0.95
336
+ ],
337
+ "eps": 1e-08
338
+ },
339
+ "scheduler": {
340
+ "type": "cosine_decay_with_warmup",
341
+ "num_warmup_steps": 1000,
342
+ "num_decay_steps": 30000,
343
+ "peak_lr": 2.5e-05,
344
+ "decay_lr": 2.5e-06
345
+ },
346
+ "eval": {
347
+ "n_episodes": 50,
348
+ "batch_size": 16,
349
+ "use_async_envs": true,
350
+ "recording": false,
351
+ "recording_repo_id": null,
352
+ "recording_private": false
353
+ },
354
+ "wandb": {
355
+ "enable": false,
356
+ "disable_artifact": false,
357
+ "project": "lerobot",
358
+ "entity": null,
359
+ "notes": null,
360
+ "run_id": null,
361
+ "mode": null,
362
+ "add_tags": true
363
+ },
364
+ "peft": null,
365
+ "job": {
366
+ "target": null,
367
+ "image": "huggingface/lerobot-gpu:latest",
368
+ "timeout": "2d",
369
+ "detach": false,
370
+ "tags": []
371
+ },
372
+ "save_checkpoint_to_hub": false,
373
+ "sample_weighting": null,
374
+ "rename_map": {},
375
+ "checkpoint_path": null
376
+ }