asafxrev commited on
Commit
ffcad99
·
verified ·
1 Parent(s): 84f8856

Upload folder using huggingface_hub

Browse files
Files changed (3) hide show
  1. config.json +76 -0
  2. model.safetensors +3 -0
  3. train_config.json +186 -0
config.json ADDED
@@ -0,0 +1,76 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "diffusion",
3
+ "n_obs_steps": 2,
4
+ "normalization_mapping": {
5
+ "VISUAL": "MEAN_STD",
6
+ "STATE": "MIN_MAX",
7
+ "ACTION": "MIN_MAX"
8
+ },
9
+ "input_features": {
10
+ "observation.state": {
11
+ "type": "STATE",
12
+ "shape": [
13
+ 6
14
+ ]
15
+ },
16
+ "observation.images.follower_cam": {
17
+ "type": "VISUAL",
18
+ "shape": [
19
+ 3,
20
+ 480,
21
+ 640
22
+ ]
23
+ }
24
+ },
25
+ "output_features": {
26
+ "action": {
27
+ "type": "ACTION",
28
+ "shape": [
29
+ 6
30
+ ]
31
+ }
32
+ },
33
+ "device": "cuda",
34
+ "use_amp": false,
35
+ "horizon": 16,
36
+ "n_action_steps": 8,
37
+ "drop_n_last_frames": 7,
38
+ "vision_backbone": "resnet18",
39
+ "crop_shape": [
40
+ 84,
41
+ 84
42
+ ],
43
+ "crop_is_random": true,
44
+ "pretrained_backbone_weights": null,
45
+ "use_group_norm": true,
46
+ "spatial_softmax_num_keypoints": 32,
47
+ "use_separate_rgb_encoder_per_camera": false,
48
+ "down_dims": [
49
+ 512,
50
+ 1024,
51
+ 2048
52
+ ],
53
+ "kernel_size": 5,
54
+ "n_groups": 8,
55
+ "diffusion_step_embed_dim": 128,
56
+ "use_film_scale_modulation": true,
57
+ "noise_scheduler_type": "DDPM",
58
+ "num_train_timesteps": 100,
59
+ "beta_schedule": "squaredcos_cap_v2",
60
+ "beta_start": 0.0001,
61
+ "beta_end": 0.02,
62
+ "prediction_type": "epsilon",
63
+ "clip_sample": true,
64
+ "clip_sample_range": 1.0,
65
+ "num_inference_steps": null,
66
+ "do_mask_loss_for_padding": false,
67
+ "optimizer_lr": 0.0001,
68
+ "optimizer_betas": [
69
+ 0.95,
70
+ 0.999
71
+ ],
72
+ "optimizer_eps": 1e-08,
73
+ "optimizer_weight_decay": 1e-06,
74
+ "scheduler_name": "cosine",
75
+ "scheduler_warmup_steps": 500
76
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d63adc0b36077c1afaff802e952009e677f8eed3e11a6ab967d7bf16aa2211b1
3
+ size 1051837400
train_config.json ADDED
@@ -0,0 +1,186 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "asafxrev/so100_jenga_",
4
+ "root": null,
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ }
61
+ }
62
+ },
63
+ "revision": null,
64
+ "use_imagenet_stats": true,
65
+ "video_backend": "torchcodec"
66
+ },
67
+ "env": null,
68
+ "policy": {
69
+ "type": "diffusion",
70
+ "n_obs_steps": 2,
71
+ "normalization_mapping": {
72
+ "VISUAL": "MEAN_STD",
73
+ "STATE": "MIN_MAX",
74
+ "ACTION": "MIN_MAX"
75
+ },
76
+ "input_features": {
77
+ "observation.state": {
78
+ "type": "STATE",
79
+ "shape": [
80
+ 6
81
+ ]
82
+ },
83
+ "observation.images.follower_cam": {
84
+ "type": "VISUAL",
85
+ "shape": [
86
+ 3,
87
+ 480,
88
+ 640
89
+ ]
90
+ }
91
+ },
92
+ "output_features": {
93
+ "action": {
94
+ "type": "ACTION",
95
+ "shape": [
96
+ 6
97
+ ]
98
+ }
99
+ },
100
+ "device": "cuda",
101
+ "use_amp": false,
102
+ "horizon": 16,
103
+ "n_action_steps": 8,
104
+ "drop_n_last_frames": 7,
105
+ "vision_backbone": "resnet18",
106
+ "crop_shape": [
107
+ 84,
108
+ 84
109
+ ],
110
+ "crop_is_random": true,
111
+ "pretrained_backbone_weights": null,
112
+ "use_group_norm": true,
113
+ "spatial_softmax_num_keypoints": 32,
114
+ "use_separate_rgb_encoder_per_camera": false,
115
+ "down_dims": [
116
+ 512,
117
+ 1024,
118
+ 2048
119
+ ],
120
+ "kernel_size": 5,
121
+ "n_groups": 8,
122
+ "diffusion_step_embed_dim": 128,
123
+ "use_film_scale_modulation": true,
124
+ "noise_scheduler_type": "DDPM",
125
+ "num_train_timesteps": 100,
126
+ "beta_schedule": "squaredcos_cap_v2",
127
+ "beta_start": 0.0001,
128
+ "beta_end": 0.02,
129
+ "prediction_type": "epsilon",
130
+ "clip_sample": true,
131
+ "clip_sample_range": 1.0,
132
+ "num_inference_steps": null,
133
+ "do_mask_loss_for_padding": false,
134
+ "optimizer_lr": 0.0001,
135
+ "optimizer_betas": [
136
+ 0.95,
137
+ 0.999
138
+ ],
139
+ "optimizer_eps": 1e-08,
140
+ "optimizer_weight_decay": 1e-06,
141
+ "scheduler_name": "cosine",
142
+ "scheduler_warmup_steps": 500
143
+ },
144
+ "output_dir": "outputs/train/diffusion_so100_jenga_",
145
+ "job_name": "diffusion_so100_jenga",
146
+ "resume": false,
147
+ "seed": 1000,
148
+ "num_workers": 4,
149
+ "batch_size": 8,
150
+ "steps": 100000,
151
+ "eval_freq": 20000,
152
+ "log_freq": 200,
153
+ "save_checkpoint": true,
154
+ "save_freq": 20000,
155
+ "use_policy_training_preset": true,
156
+ "optimizer": {
157
+ "type": "adam",
158
+ "lr": 0.0001,
159
+ "weight_decay": 1e-06,
160
+ "grad_clip_norm": 10.0,
161
+ "betas": [
162
+ 0.95,
163
+ 0.999
164
+ ],
165
+ "eps": 1e-08
166
+ },
167
+ "scheduler": {
168
+ "type": "diffuser",
169
+ "num_warmup_steps": 500,
170
+ "name": "cosine"
171
+ },
172
+ "eval": {
173
+ "n_episodes": 50,
174
+ "batch_size": 50,
175
+ "use_async_envs": false
176
+ },
177
+ "wandb": {
178
+ "enable": true,
179
+ "disable_artifact": false,
180
+ "project": "lerobot",
181
+ "entity": null,
182
+ "notes": null,
183
+ "run_id": null,
184
+ "mode": null
185
+ }
186
+ }