Ekami commited on
Commit
f6de4b2
·
verified ·
1 Parent(s): dd1bd0c

Checkpoint step 200 from wandb https://wandb.ai/peppy-bot/so100-train/runs/74950guj

Browse files
Files changed (3) hide show
  1. config.json +59 -0
  2. model.safetensors +3 -0
  3. train_config.json +225 -0
config.json ADDED
@@ -0,0 +1,59 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "chunk_size": 100,
5
+ "n_action_steps": 100,
6
+ "input_features": {
7
+ "observation.state": {
8
+ "type": "STATE",
9
+ "shape": [
10
+ 6
11
+ ]
12
+ },
13
+ "observation.images.front": {
14
+ "type": "VISUAL",
15
+ "shape": [
16
+ 3,
17
+ 480,
18
+ 640
19
+ ]
20
+ },
21
+ "observation.images.wrist": {
22
+ "type": "VISUAL",
23
+ "shape": [
24
+ 3,
25
+ 480,
26
+ 640
27
+ ]
28
+ }
29
+ },
30
+ "output_features": {
31
+ "action": {
32
+ "type": "ACTION",
33
+ "shape": [
34
+ 6
35
+ ]
36
+ }
37
+ },
38
+ "normalization_mapping": {
39
+ "VISUAL": "MEAN_STD",
40
+ "STATE": "MEAN_STD",
41
+ "ACTION": "MEAN_STD"
42
+ },
43
+ "vision_backbone": "resnet18",
44
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
45
+ "replace_final_stride_with_dilation": false,
46
+ "use_vae": true,
47
+ "latent_dim": 32,
48
+ "n_vae_encoder_layers": 4,
49
+ "pre_norm": false,
50
+ "dim_model": 512,
51
+ "n_heads": 8,
52
+ "dim_feedforward": 3200,
53
+ "feedforward_activation": "relu",
54
+ "n_encoder_layers": 4,
55
+ "n_decoder_layers": 1,
56
+ "dropout": 0.1,
57
+ "kl_weight": 10.0,
58
+ "temporal_ensemble_coeff": null
59
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8733572a92acde769e51bd884e5386ea27026af9508a2a00ea896791f56f2c33
3
+ size 206701072
train_config.json ADDED
@@ -0,0 +1,225 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "output_dir": "$PROJECT_DIR/.cache/so100-train",
3
+ "save_checkpoint": true,
4
+ "seed": 1000,
5
+ "eval_freq": 20000,
6
+ "log_freq": 200,
7
+ "save_checkpoint_freq": 200,
8
+ "hf_repo_id": "Ekami/act_pretrained",
9
+ "env": null,
10
+ "num_workers": 4,
11
+ "name": "train-act",
12
+ "batch_size": 8,
13
+ "steps": 1000,
14
+ "use_amp": false,
15
+ "optimizer": {},
16
+ "scheduler": null,
17
+ "eval": null,
18
+ "wandb": {
19
+ "enable": true,
20
+ "entity": "peppy-bot",
21
+ "project": "so100-train",
22
+ "log_dir": "$PROJECT_DIR/.cache/wandb",
23
+ "disable_artifact": false,
24
+ "notes": ""
25
+ },
26
+ "policy": {
27
+ "type": "act",
28
+ "n_obs_steps": 1,
29
+ "chunk_size": 100,
30
+ "n_action_steps": 100,
31
+ "pretrained_path": null,
32
+ "reward_delta_indices": null,
33
+ "action_delta_indices": [
34
+ 0,
35
+ 1,
36
+ 2,
37
+ 3,
38
+ 4,
39
+ 5,
40
+ 6,
41
+ 7,
42
+ 8,
43
+ 9,
44
+ 10,
45
+ 11,
46
+ 12,
47
+ 13,
48
+ 14,
49
+ 15,
50
+ 16,
51
+ 17,
52
+ 18,
53
+ 19,
54
+ 20,
55
+ 21,
56
+ 22,
57
+ 23,
58
+ 24,
59
+ 25,
60
+ 26,
61
+ 27,
62
+ 28,
63
+ 29,
64
+ 30,
65
+ 31,
66
+ 32,
67
+ 33,
68
+ 34,
69
+ 35,
70
+ 36,
71
+ 37,
72
+ 38,
73
+ 39,
74
+ 40,
75
+ 41,
76
+ 42,
77
+ 43,
78
+ 44,
79
+ 45,
80
+ 46,
81
+ 47,
82
+ 48,
83
+ 49,
84
+ 50,
85
+ 51,
86
+ 52,
87
+ 53,
88
+ 54,
89
+ 55,
90
+ 56,
91
+ 57,
92
+ 58,
93
+ 59,
94
+ 60,
95
+ 61,
96
+ 62,
97
+ 63,
98
+ 64,
99
+ 65,
100
+ 66,
101
+ 67,
102
+ 68,
103
+ 69,
104
+ 70,
105
+ 71,
106
+ 72,
107
+ 73,
108
+ 74,
109
+ 75,
110
+ 76,
111
+ 77,
112
+ 78,
113
+ 79,
114
+ 80,
115
+ 81,
116
+ 82,
117
+ 83,
118
+ 84,
119
+ 85,
120
+ 86,
121
+ 87,
122
+ 88,
123
+ 89,
124
+ 90,
125
+ 91,
126
+ 92,
127
+ 93,
128
+ 94,
129
+ 95,
130
+ 96,
131
+ 97,
132
+ 98,
133
+ 99
134
+ ],
135
+ "observation_delta_indices": null,
136
+ "input_features": {
137
+ "observation.state": {
138
+ "type": "STATE",
139
+ "shape": [
140
+ 6
141
+ ]
142
+ },
143
+ "observation.images.front": {
144
+ "type": "VISUAL",
145
+ "shape": [
146
+ 3,
147
+ 480,
148
+ 640
149
+ ]
150
+ },
151
+ "observation.images.wrist": {
152
+ "type": "VISUAL",
153
+ "shape": [
154
+ 3,
155
+ 480,
156
+ 640
157
+ ]
158
+ }
159
+ },
160
+ "output_features": {
161
+ "action": {
162
+ "type": "ACTION",
163
+ "shape": [
164
+ 6
165
+ ]
166
+ }
167
+ },
168
+ "normalization_mapping": {
169
+ "VISUAL": "MEAN_STD",
170
+ "STATE": "MEAN_STD",
171
+ "ACTION": "MEAN_STD"
172
+ },
173
+ "checkpoint_config_save_fields": [
174
+ "type",
175
+ "n_obs_steps",
176
+ "normalization_mapping",
177
+ "input_features",
178
+ "output_features",
179
+ "chunk_size",
180
+ "n_action_steps",
181
+ "vision_backbone",
182
+ "pretrained_backbone_weights",
183
+ "replace_final_stride_with_dilation",
184
+ "pre_norm",
185
+ "dim_model",
186
+ "n_heads",
187
+ "dim_feedforward",
188
+ "feedforward_activation",
189
+ "n_encoder_layers",
190
+ "n_decoder_layers",
191
+ "use_vae",
192
+ "latent_dim",
193
+ "n_vae_encoder_layers",
194
+ "temporal_ensemble_coeff",
195
+ "dropout",
196
+ "kl_weight"
197
+ ],
198
+ "vision_backbone": "resnet18",
199
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
200
+ "replace_final_stride_with_dilation": false,
201
+ "use_vae": true,
202
+ "latent_dim": 32,
203
+ "n_vae_encoder_layers": 4,
204
+ "pre_norm": false,
205
+ "dim_model": 512,
206
+ "n_heads": 8,
207
+ "dim_feedforward": 3200,
208
+ "feedforward_activation": "relu",
209
+ "n_encoder_layers": 4,
210
+ "n_decoder_layers": 1,
211
+ "dropout": 0.1,
212
+ "kl_weight": 10.0,
213
+ "optimizer_lr_backbone": 0.00001,
214
+ "temporal_ensemble_coeff": null
215
+ },
216
+ "dataset": {
217
+ "dataset_dir": "$HF_HOME/lerobot",
218
+ "video_backend": "torchcodec",
219
+ "single_task": "stack_bricks",
220
+ "repo_id": "Ekami/so100",
221
+ "revision": "main",
222
+ "pull_from_hf_hub": true,
223
+ "use_imagenet_stats": true
224
+ }
225
+ }