Upload folder using huggingface_hub
Browse files- config.json +124 -0
- model.safetensors +3 -0
- train_config.json +282 -0
config.json
ADDED
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"type": "dot",
|
3 |
+
"n_obs_steps": 3,
|
4 |
+
"normalization_mapping": {
|
5 |
+
"VISUAL": "MEAN_STD",
|
6 |
+
"STATE": "MIN_MAX",
|
7 |
+
"ENV": "MIN_MAX",
|
8 |
+
"ACTION": "MIN_MAX"
|
9 |
+
},
|
10 |
+
"input_features": {
|
11 |
+
"observation.images.top": {
|
12 |
+
"type": "VISUAL",
|
13 |
+
"shape": [
|
14 |
+
3,
|
15 |
+
480,
|
16 |
+
640
|
17 |
+
]
|
18 |
+
},
|
19 |
+
"observation.state": {
|
20 |
+
"type": "STATE",
|
21 |
+
"shape": [
|
22 |
+
14
|
23 |
+
]
|
24 |
+
}
|
25 |
+
},
|
26 |
+
"output_features": {
|
27 |
+
"action": {
|
28 |
+
"type": "ACTION",
|
29 |
+
"shape": [
|
30 |
+
14
|
31 |
+
]
|
32 |
+
}
|
33 |
+
},
|
34 |
+
"train_horizon": 75,
|
35 |
+
"inference_horizon": 50,
|
36 |
+
"lookback_obs_steps": 20,
|
37 |
+
"lookback_aug": 5,
|
38 |
+
"override_dataset_stats": false,
|
39 |
+
"new_dataset_stats": {
|
40 |
+
"action": {
|
41 |
+
"max": [
|
42 |
+
512.0,
|
43 |
+
512.0
|
44 |
+
],
|
45 |
+
"min": [
|
46 |
+
0.0,
|
47 |
+
0.0
|
48 |
+
]
|
49 |
+
},
|
50 |
+
"observation.environment_state": {
|
51 |
+
"max": [
|
52 |
+
512.0,
|
53 |
+
512.0,
|
54 |
+
512.0,
|
55 |
+
512.0,
|
56 |
+
512.0,
|
57 |
+
512.0,
|
58 |
+
512.0,
|
59 |
+
512.0,
|
60 |
+
512.0,
|
61 |
+
512.0,
|
62 |
+
512.0,
|
63 |
+
512.0,
|
64 |
+
512.0,
|
65 |
+
512.0,
|
66 |
+
512.0,
|
67 |
+
512.0
|
68 |
+
],
|
69 |
+
"min": [
|
70 |
+
0.0,
|
71 |
+
0.0,
|
72 |
+
0.0,
|
73 |
+
0.0,
|
74 |
+
0.0,
|
75 |
+
0.0,
|
76 |
+
0.0,
|
77 |
+
0.0,
|
78 |
+
0.0,
|
79 |
+
0.0,
|
80 |
+
0.0,
|
81 |
+
0.0,
|
82 |
+
0.0,
|
83 |
+
0.0,
|
84 |
+
0.0,
|
85 |
+
0.0
|
86 |
+
]
|
87 |
+
},
|
88 |
+
"observation.state": {
|
89 |
+
"max": [
|
90 |
+
512.0,
|
91 |
+
512.0
|
92 |
+
],
|
93 |
+
"min": [
|
94 |
+
0.0,
|
95 |
+
0.0
|
96 |
+
]
|
97 |
+
}
|
98 |
+
},
|
99 |
+
"vision_backbone": "resnet18",
|
100 |
+
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
101 |
+
"pre_norm": true,
|
102 |
+
"lora_rank": 20,
|
103 |
+
"merge_lora": false,
|
104 |
+
"dim_model": 128,
|
105 |
+
"n_heads": 8,
|
106 |
+
"dim_feedforward": 512,
|
107 |
+
"n_decoder_layers": 8,
|
108 |
+
"rescale_shape": [
|
109 |
+
480,
|
110 |
+
640
|
111 |
+
],
|
112 |
+
"crop_scale": 0.8,
|
113 |
+
"state_noise": 0.01,
|
114 |
+
"noise_decay": 0.999995,
|
115 |
+
"dropout": 0.1,
|
116 |
+
"alpha": 0.98,
|
117 |
+
"train_alpha": 0.99,
|
118 |
+
"predict_every_n": 1,
|
119 |
+
"return_every_n": 1,
|
120 |
+
"optimizer_lr": 0.0001,
|
121 |
+
"optimizer_min_lr": 0.0001,
|
122 |
+
"optimizer_lr_cycle_steps": 100000,
|
123 |
+
"optimizer_weight_decay": 1e-05
|
124 |
+
}
|
model.safetensors
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:e9212b744bed2cfe02b1b116c01043432c35e0be161157054b2583459beb6414
|
3 |
+
size 56473973
|
train_config.json
ADDED
@@ -0,0 +1,282 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"dataset": {
|
3 |
+
"repo_id": "lerobot/aloha_sim_transfer_cube_human",
|
4 |
+
"episodes": null,
|
5 |
+
"image_transforms": {
|
6 |
+
"enable": false,
|
7 |
+
"max_num_transforms": 3,
|
8 |
+
"random_order": false,
|
9 |
+
"tfs": {
|
10 |
+
"brightness": {
|
11 |
+
"weight": 1.0,
|
12 |
+
"type": "ColorJitter",
|
13 |
+
"kwargs": {
|
14 |
+
"brightness": [
|
15 |
+
0.8,
|
16 |
+
1.2
|
17 |
+
]
|
18 |
+
}
|
19 |
+
},
|
20 |
+
"contrast": {
|
21 |
+
"weight": 1.0,
|
22 |
+
"type": "ColorJitter",
|
23 |
+
"kwargs": {
|
24 |
+
"contrast": [
|
25 |
+
0.8,
|
26 |
+
1.2
|
27 |
+
]
|
28 |
+
}
|
29 |
+
},
|
30 |
+
"saturation": {
|
31 |
+
"weight": 1.0,
|
32 |
+
"type": "ColorJitter",
|
33 |
+
"kwargs": {
|
34 |
+
"saturation": [
|
35 |
+
0.5,
|
36 |
+
1.5
|
37 |
+
]
|
38 |
+
}
|
39 |
+
},
|
40 |
+
"hue": {
|
41 |
+
"weight": 1.0,
|
42 |
+
"type": "ColorJitter",
|
43 |
+
"kwargs": {
|
44 |
+
"hue": [
|
45 |
+
-0.05,
|
46 |
+
0.05
|
47 |
+
]
|
48 |
+
}
|
49 |
+
},
|
50 |
+
"sharpness": {
|
51 |
+
"weight": 1.0,
|
52 |
+
"type": "SharpnessJitter",
|
53 |
+
"kwargs": {
|
54 |
+
"sharpness": [
|
55 |
+
0.5,
|
56 |
+
1.5
|
57 |
+
]
|
58 |
+
}
|
59 |
+
}
|
60 |
+
}
|
61 |
+
},
|
62 |
+
"local_files_only": false,
|
63 |
+
"use_imagenet_stats": true,
|
64 |
+
"video_backend": "pyav"
|
65 |
+
},
|
66 |
+
"env": {
|
67 |
+
"type": "aloha",
|
68 |
+
"task": "AlohaTransferCube-v0",
|
69 |
+
"fps": 50,
|
70 |
+
"features": {
|
71 |
+
"action": {
|
72 |
+
"type": "ACTION",
|
73 |
+
"shape": [
|
74 |
+
14
|
75 |
+
]
|
76 |
+
},
|
77 |
+
"agent_pos": {
|
78 |
+
"type": "STATE",
|
79 |
+
"shape": [
|
80 |
+
14
|
81 |
+
]
|
82 |
+
},
|
83 |
+
"pixels/top": {
|
84 |
+
"type": "VISUAL",
|
85 |
+
"shape": [
|
86 |
+
480,
|
87 |
+
640,
|
88 |
+
3
|
89 |
+
]
|
90 |
+
}
|
91 |
+
},
|
92 |
+
"features_map": {
|
93 |
+
"action": "action",
|
94 |
+
"agent_pos": "observation.state",
|
95 |
+
"top": "observation.image.top",
|
96 |
+
"pixels/top": "observation.images.top"
|
97 |
+
},
|
98 |
+
"episode_length": 400,
|
99 |
+
"obs_type": "pixels_agent_pos",
|
100 |
+
"render_mode": "rgb_array"
|
101 |
+
},
|
102 |
+
"policy": {
|
103 |
+
"type": "dot",
|
104 |
+
"n_obs_steps": 3,
|
105 |
+
"normalization_mapping": {
|
106 |
+
"VISUAL": "MEAN_STD",
|
107 |
+
"STATE": "MIN_MAX",
|
108 |
+
"ENV": "MIN_MAX",
|
109 |
+
"ACTION": "MIN_MAX"
|
110 |
+
},
|
111 |
+
"input_features": {
|
112 |
+
"observation.images.top": {
|
113 |
+
"type": "VISUAL",
|
114 |
+
"shape": [
|
115 |
+
3,
|
116 |
+
480,
|
117 |
+
640
|
118 |
+
]
|
119 |
+
},
|
120 |
+
"observation.state": {
|
121 |
+
"type": "STATE",
|
122 |
+
"shape": [
|
123 |
+
14
|
124 |
+
]
|
125 |
+
}
|
126 |
+
},
|
127 |
+
"output_features": {
|
128 |
+
"action": {
|
129 |
+
"type": "ACTION",
|
130 |
+
"shape": [
|
131 |
+
14
|
132 |
+
]
|
133 |
+
}
|
134 |
+
},
|
135 |
+
"train_horizon": 75,
|
136 |
+
"inference_horizon": 50,
|
137 |
+
"lookback_obs_steps": 20,
|
138 |
+
"lookback_aug": 5,
|
139 |
+
"override_dataset_stats": false,
|
140 |
+
"new_dataset_stats": {
|
141 |
+
"action": {
|
142 |
+
"max": [
|
143 |
+
512.0,
|
144 |
+
512.0
|
145 |
+
],
|
146 |
+
"min": [
|
147 |
+
0.0,
|
148 |
+
0.0
|
149 |
+
]
|
150 |
+
},
|
151 |
+
"observation.environment_state": {
|
152 |
+
"max": [
|
153 |
+
512.0,
|
154 |
+
512.0,
|
155 |
+
512.0,
|
156 |
+
512.0,
|
157 |
+
512.0,
|
158 |
+
512.0,
|
159 |
+
512.0,
|
160 |
+
512.0,
|
161 |
+
512.0,
|
162 |
+
512.0,
|
163 |
+
512.0,
|
164 |
+
512.0,
|
165 |
+
512.0,
|
166 |
+
512.0,
|
167 |
+
512.0,
|
168 |
+
512.0
|
169 |
+
],
|
170 |
+
"min": [
|
171 |
+
0.0,
|
172 |
+
0.0,
|
173 |
+
0.0,
|
174 |
+
0.0,
|
175 |
+
0.0,
|
176 |
+
0.0,
|
177 |
+
0.0,
|
178 |
+
0.0,
|
179 |
+
0.0,
|
180 |
+
0.0,
|
181 |
+
0.0,
|
182 |
+
0.0,
|
183 |
+
0.0,
|
184 |
+
0.0,
|
185 |
+
0.0,
|
186 |
+
0.0
|
187 |
+
]
|
188 |
+
},
|
189 |
+
"observation.state": {
|
190 |
+
"max": [
|
191 |
+
512.0,
|
192 |
+
512.0
|
193 |
+
],
|
194 |
+
"min": [
|
195 |
+
0.0,
|
196 |
+
0.0
|
197 |
+
]
|
198 |
+
}
|
199 |
+
},
|
200 |
+
"vision_backbone": "resnet18",
|
201 |
+
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
202 |
+
"pre_norm": true,
|
203 |
+
"lora_rank": 20,
|
204 |
+
"merge_lora": false,
|
205 |
+
"dim_model": 128,
|
206 |
+
"n_heads": 8,
|
207 |
+
"dim_feedforward": 512,
|
208 |
+
"n_decoder_layers": 8,
|
209 |
+
"rescale_shape": [
|
210 |
+
480,
|
211 |
+
640
|
212 |
+
],
|
213 |
+
"crop_scale": 0.8,
|
214 |
+
"state_noise": 0.01,
|
215 |
+
"noise_decay": 0.999995,
|
216 |
+
"dropout": 0.1,
|
217 |
+
"alpha": 0.98,
|
218 |
+
"train_alpha": 0.99,
|
219 |
+
"predict_every_n": 1,
|
220 |
+
"return_every_n": 1,
|
221 |
+
"optimizer_lr": 0.0001,
|
222 |
+
"optimizer_min_lr": 0.0001,
|
223 |
+
"optimizer_lr_cycle_steps": 100000,
|
224 |
+
"optimizer_weight_decay": 1e-05
|
225 |
+
},
|
226 |
+
"output_dir": "outputs/train/pusht_aloha_transfer_cube",
|
227 |
+
"job_name": "aloha_dot",
|
228 |
+
"resume": false,
|
229 |
+
"device": "cuda",
|
230 |
+
"use_amp": true,
|
231 |
+
"seed": 100000,
|
232 |
+
"num_workers": 24,
|
233 |
+
"batch_size": 24,
|
234 |
+
"eval_freq": 5000,
|
235 |
+
"log_freq": 1000,
|
236 |
+
"save_checkpoint": true,
|
237 |
+
"save_freq": 5000,
|
238 |
+
"offline": {
|
239 |
+
"steps": 5000
|
240 |
+
},
|
241 |
+
"online": {
|
242 |
+
"steps": 0,
|
243 |
+
"rollout_n_episodes": 1,
|
244 |
+
"rollout_batch_size": 1,
|
245 |
+
"steps_between_rollouts": null,
|
246 |
+
"sampling_ratio": 0.5,
|
247 |
+
"env_seed": null,
|
248 |
+
"buffer_capacity": null,
|
249 |
+
"buffer_seed_size": 0,
|
250 |
+
"do_rollout_async": false
|
251 |
+
},
|
252 |
+
"use_policy_training_preset": true,
|
253 |
+
"optimizer": {
|
254 |
+
"type": "adamw",
|
255 |
+
"lr": 0.0001,
|
256 |
+
"weight_decay": 1e-05,
|
257 |
+
"grad_clip_norm": 10.0,
|
258 |
+
"betas": [
|
259 |
+
0.9,
|
260 |
+
0.999
|
261 |
+
],
|
262 |
+
"eps": 1e-08
|
263 |
+
},
|
264 |
+
"scheduler": {
|
265 |
+
"type": "cosine_annealing",
|
266 |
+
"num_warmup_steps": 0,
|
267 |
+
"min_lr": 0.0001,
|
268 |
+
"T_max": 100000
|
269 |
+
},
|
270 |
+
"eval": {
|
271 |
+
"n_episodes": 50,
|
272 |
+
"batch_size": 50,
|
273 |
+
"use_async_envs": false
|
274 |
+
},
|
275 |
+
"wandb": {
|
276 |
+
"enable": true,
|
277 |
+
"disable_artifact": false,
|
278 |
+
"project": "transfer_cube",
|
279 |
+
"entity": null,
|
280 |
+
"notes": null
|
281 |
+
}
|
282 |
+
}
|