Instructions to use nepyope/rtc with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use nepyope/rtc with LeRobot:
# No code snippets available yet for this library. # To use this model, check the repository files and the library's documentation. # Want to help? PRs adding snippets are welcome at: # https://github.com/huggingface/huggingface.js
- Notebooks
- Google Colab
- Kaggle
Download train_config.json from nepyope/rtc: direct link, hf CLI and curl.
- Browser
- Download file 9.2 kB
-
https://huggingface.co/nepyope/rtc/resolve/main/train_config.json
- Command line
-
hf download hf://nepyope/rtc/train_config.json
-
curl -L -o train_config.json https://huggingface.co/nepyope/rtc/resolve/main/train_config.json
9.2 kB
| { | |
| "dataset": { | |
| "repo_id": "lerobot-data-collection/level2_final_quality3_t_0_hil_data_c", | |
| "repo_type": "dataset", | |
| "root": "/fsx/martino/hf_cache/hub/datasets--lerobot-data-collection--level2_final_quality3_t_0_hil_data_c/snapshots/2496db53d330c360f910d095e13698d968c56fc6", | |
| "episodes": null, | |
| "exclude_episodes": null, | |
| "image_transforms": { | |
| "enable": false, | |
| "max_num_transforms": 3, | |
| "random_order": false, | |
| "tfs": { | |
| "brightness": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "brightness": [ | |
| 0.8, | |
| 1.2 | |
| ] | |
| } | |
| }, | |
| "contrast": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "contrast": [ | |
| 0.8, | |
| 1.2 | |
| ] | |
| } | |
| }, | |
| "saturation": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "saturation": [ | |
| 0.5, | |
| 1.5 | |
| ] | |
| } | |
| }, | |
| "hue": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "hue": [ | |
| -0.05, | |
| 0.05 | |
| ] | |
| } | |
| }, | |
| "sharpness": { | |
| "weight": 1.0, | |
| "type": "SharpnessJitter", | |
| "kwargs": { | |
| "sharpness": [ | |
| 0.5, | |
| 1.5 | |
| ] | |
| } | |
| }, | |
| "affine": { | |
| "weight": 1.0, | |
| "type": "RandomAffine", | |
| "kwargs": { | |
| "degrees": [ | |
| -5.0, | |
| 5.0 | |
| ], | |
| "translate": [ | |
| 0.05, | |
| 0.05 | |
| ] | |
| } | |
| } | |
| } | |
| }, | |
| "revision": null, | |
| "use_imagenet_stats": false, | |
| "video_backend": "torchcodec", | |
| "return_uint8": false, | |
| "depth_output_unit": "mm", | |
| "streaming": false, | |
| "eval_split": 0.0 | |
| }, | |
| "env": null, | |
| "policy": { | |
| "type": "pi05", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 16 | |
| ] | |
| }, | |
| "observation.images.left_wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 720, | |
| 1280 | |
| ] | |
| }, | |
| "observation.images.right_wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 720, | |
| 1280 | |
| ] | |
| }, | |
| "observation.images.base": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 16 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": false, | |
| "repo_id": "lerobot-data-collection/ablation2-5_0", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": "/fsx/martino/.tmp/folding-rtc-d10-5k-30327/model", | |
| "pretrained_revision": null, | |
| "paligemma_variant": "gemma_2b", | |
| "action_expert_variant": "gemma_300m", | |
| "dtype": "bfloat16", | |
| "chunk_size": 30, | |
| "n_action_steps": 30, | |
| "max_state_dim": 32, | |
| "max_action_dim": 32, | |
| "num_inference_steps": 10, | |
| "time_sampling_beta_alpha": 1.5, | |
| "time_sampling_beta_beta": 1.0, | |
| "time_sampling_scale": 0.999, | |
| "time_sampling_offset": 0.001, | |
| "min_period": 0.004, | |
| "max_period": 4.0, | |
| "use_relative_actions": true, | |
| "relative_exclude_joints": [ | |
| "gripper" | |
| ], | |
| "action_feature_names": [ | |
| "right_joint_1.pos", | |
| "right_joint_2.pos", | |
| "right_joint_3.pos", | |
| "right_joint_4.pos", | |
| "right_joint_5.pos", | |
| "right_joint_6.pos", | |
| "right_joint_7.pos", | |
| "right_gripper.pos", | |
| "left_joint_1.pos", | |
| "left_joint_2.pos", | |
| "left_joint_3.pos", | |
| "left_joint_4.pos", | |
| "left_joint_5.pos", | |
| "left_joint_6.pos", | |
| "left_joint_7.pos", | |
| "left_gripper.pos" | |
| ], | |
| "rtc_config": null, | |
| "rtc_training_max_delay": 10, | |
| "image_resolution": [ | |
| 224, | |
| 224 | |
| ], | |
| "empty_cameras": 0, | |
| "tokenizer_max_length": 200, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "QUANTILES", | |
| "ACTION": "QUANTILES" | |
| }, | |
| "gradient_checkpointing": true, | |
| "compile_model": false, | |
| "compile_mode": "max-autotune", | |
| "freeze_vision_encoder": false, | |
| "train_expert_only": false, | |
| "optimizer_lr": 3.75e-05, | |
| "optimizer_betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 0.01, | |
| "optimizer_grad_clip_norm": 1.0, | |
| "scheduler_warmup_steps": 500, | |
| "scheduler_decay_steps": 5000, | |
| "scheduler_decay_lr": 2.5e-06 | |
| }, | |
| "reward_model": null, | |
| "output_dir": "/fsx/martino/outputs/folding-rtc-d10-5k", | |
| "job_name": "folding-final-rtc-d10-5k", | |
| "resume": false, | |
| "seed": 1000, | |
| "cudnn_deterministic": false, | |
| "num_workers": 8, | |
| "batch_size": 12, | |
| "prefetch_factor": 4, | |
| "persistent_workers": true, | |
| "dataloader_multiprocessing_context": "spawn", | |
| "steps": 5000, | |
| "env_eval_freq": 20000, | |
| "log_freq": 100, | |
| "eval_steps": 0, | |
| "max_eval_samples": 0, | |
| "tolerance_s": 0.0001, | |
| "save_checkpoint": true, | |
| "save_freq": 1000, | |
| "checkpoint_format": "safetensors", | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adamw", | |
| "lr": 3.75e-05, | |
| "weight_decay": 0.01, | |
| "grad_clip_norm": 1.0, | |
| "betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "eps": 1e-08 | |
| }, | |
| "scheduler": { | |
| "type": "cosine_decay_with_warmup", | |
| "num_warmup_steps": 500, | |
| "num_decay_steps": 5000, | |
| "peak_lr": 3.75e-05, | |
| "decay_lr": 2.5e-06 | |
| }, | |
| "parallelism": { | |
| "dp_replicate": 8, | |
| "dp_shard": 1, | |
| "context_parallel": { | |
| "ring_degree": 1, | |
| "ulysses_degree": 1 | |
| }, | |
| "cfg_parallel": 1 | |
| }, | |
| "accelerator": { | |
| "mixed_precision": "no", | |
| "gradient_accumulation": { | |
| "steps": 1 | |
| }, | |
| "fsdp": { | |
| "reshard_after_forward": true, | |
| "wrap_modules": null, | |
| "min_num_params": null, | |
| "cpu_offload": false, | |
| "ignored_modules": null | |
| }, | |
| "ddp": { | |
| "find_unused_parameters": true, | |
| "gradient_as_bucket_view": false, | |
| "static_graph": false | |
| }, | |
| "compile": { | |
| "enabled": false, | |
| "backend": "inductor", | |
| "mode": null, | |
| "regional": true | |
| }, | |
| "activation_checkpointing": { | |
| "mode": "none" | |
| } | |
| }, | |
| "eval": { | |
| "n_episodes": 50, | |
| "batch_size": 50, | |
| "use_async_envs": true, | |
| "recording": false, | |
| "recording_repo_id": null, | |
| "recording_private": false | |
| }, | |
| "ema": { | |
| "enable": false, | |
| "decay": null, | |
| "update_after_step": 0, | |
| "inv_gamma": 1.0, | |
| "power": 0.75, | |
| "min_decay": 0.0, | |
| "max_decay": 0.9999, | |
| "use_for_eval": true | |
| }, | |
| "wandb": { | |
| "enable": true, | |
| "disable_artifact": true, | |
| "project": "folding-rtc", | |
| "entity": null, | |
| "notes": null, | |
| "run_id": "u7k4vuh0", | |
| "mode": null, | |
| "add_tags": true | |
| }, | |
| "peft": null, | |
| "job": { | |
| "target": null, | |
| "image": "huggingface/lerobot-gpu:latest", | |
| "timeout": "2d", | |
| "detach": false, | |
| "tags": [] | |
| }, | |
| "save_checkpoint_to_hub": false, | |
| "sample_weighting": null, | |
| "rename_map": {}, | |
| "checkpoint_path": null | |
| } |