Push model using huggingface_hub.
Browse files- README.md +10 -0
- config.json +743 -0
- model.safetensors +3 -0
README.md
ADDED
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
---
|
2 |
+
tags:
|
3 |
+
- model_hub_mixin
|
4 |
+
- pytorch_model_hub_mixin
|
5 |
+
---
|
6 |
+
|
7 |
+
This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
|
8 |
+
- Code: [More Information Needed]
|
9 |
+
- Paper: [More Information Needed]
|
10 |
+
- Docs: [More Information Needed]
|
config.json
ADDED
@@ -0,0 +1,743 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"policy_cfg": {
|
3 |
+
"action_norm_mode": "min_max",
|
4 |
+
"dim_model": 384,
|
5 |
+
"dit_depth": 4,
|
6 |
+
"dit_dropout": 0.1,
|
7 |
+
"dit_mlp_ratio": 4.0,
|
8 |
+
"dit_num_heads": 6,
|
9 |
+
"drop_n_last_frames": 20,
|
10 |
+
"ema_decay": 0.9999,
|
11 |
+
"horizon": 20,
|
12 |
+
"image_norm_mode": "mean_std",
|
13 |
+
"input_shape": [
|
14 |
+
84,
|
15 |
+
84
|
16 |
+
],
|
17 |
+
"n_sampling_steps": 5,
|
18 |
+
"optimizer_betas": [
|
19 |
+
0.95,
|
20 |
+
0.999
|
21 |
+
],
|
22 |
+
"optimizer_eps": 1e-08,
|
23 |
+
"optimizer_lr": 0.0001,
|
24 |
+
"optimizer_weight_decay": 1e-06,
|
25 |
+
"scheduler_name": "cosine",
|
26 |
+
"scheduler_warmup_steps": 500,
|
27 |
+
"state_norm_mode": "min_max",
|
28 |
+
"time_dim": 128,
|
29 |
+
"type": "inverse_world_model",
|
30 |
+
"use_ema": true
|
31 |
+
},
|
32 |
+
"stats": {
|
33 |
+
"action": {
|
34 |
+
"count": [
|
35 |
+
71094
|
36 |
+
],
|
37 |
+
"max": [
|
38 |
+
0.13050895929336548,
|
39 |
+
0.12782792747020721,
|
40 |
+
0.1310315728187561,
|
41 |
+
0.4076690077781677,
|
42 |
+
0.4080283045768738,
|
43 |
+
1.112401008605957,
|
44 |
+
0.1412312388420105
|
45 |
+
],
|
46 |
+
"mean": [
|
47 |
+
-0.0016794727103856908,
|
48 |
+
0.001908041936698304,
|
49 |
+
0.001278865833036496,
|
50 |
+
-0.0001848477806694988,
|
51 |
+
0.0004371102705043784,
|
52 |
+
-0.001344683588807246,
|
53 |
+
0.0016035329945819229
|
54 |
+
],
|
55 |
+
"min": [
|
56 |
+
-0.1332162469625473,
|
57 |
+
-0.12558980286121368,
|
58 |
+
-0.1296357959508896,
|
59 |
+
-0.41924750804901123,
|
60 |
+
-0.40395763516426086,
|
61 |
+
-1.1371713876724243,
|
62 |
+
-0.1178487241268158
|
63 |
+
],
|
64 |
+
"std": [
|
65 |
+
0.052842640543493816,
|
66 |
+
0.03503659196496774,
|
67 |
+
0.043667218190468676,
|
68 |
+
0.052149108021601616,
|
69 |
+
0.04789315898078726,
|
70 |
+
0.09144133258177155,
|
71 |
+
0.04437857777713645
|
72 |
+
]
|
73 |
+
},
|
74 |
+
"action.absolute": {
|
75 |
+
"count": [
|
76 |
+
71094
|
77 |
+
],
|
78 |
+
"max": [
|
79 |
+
0.2283231019973755,
|
80 |
+
-0.2796611189842224,
|
81 |
+
0.33734452724456787,
|
82 |
+
1.6977882385253906,
|
83 |
+
3.141589403152466,
|
84 |
+
0.6707741022109985,
|
85 |
+
0.9901960492134094
|
86 |
+
],
|
87 |
+
"mean": [
|
88 |
+
-0.024366905563049185,
|
89 |
+
-0.5101843556475095,
|
90 |
+
0.0956924008419585,
|
91 |
+
-0.004638735206165781,
|
92 |
+
0.6386122004148825,
|
93 |
+
0.005532952948331576,
|
94 |
+
0.5458974745740273
|
95 |
+
],
|
96 |
+
"min": [
|
97 |
+
-0.3173721730709076,
|
98 |
+
-0.7650580406188965,
|
99 |
+
-0.09576214104890823,
|
100 |
+
-1.7423254251480103,
|
101 |
+
-3.141590118408203,
|
102 |
+
-0.6504083275794983,
|
103 |
+
-0.09019386023283005
|
104 |
+
],
|
105 |
+
"std": [
|
106 |
+
0.09311463031283773,
|
107 |
+
0.04885433945157392,
|
108 |
+
0.05359912211779894,
|
109 |
+
0.14492803443798513,
|
110 |
+
3.042929168060467,
|
111 |
+
0.08568170439141781,
|
112 |
+
0.3370375265892264
|
113 |
+
]
|
114 |
+
},
|
115 |
+
"action.delta": {
|
116 |
+
"count": [
|
117 |
+
71094
|
118 |
+
],
|
119 |
+
"max": [
|
120 |
+
0.13050895929336548,
|
121 |
+
0.12782792747020721,
|
122 |
+
0.1310315728187561,
|
123 |
+
0.4076690077781677,
|
124 |
+
0.4080283045768738,
|
125 |
+
1.112401008605957,
|
126 |
+
0.1412312388420105
|
127 |
+
],
|
128 |
+
"mean": [
|
129 |
+
-0.0016794727103856908,
|
130 |
+
0.001908041936698304,
|
131 |
+
0.001278865833036496,
|
132 |
+
-0.0001848477806694988,
|
133 |
+
0.0004371102705043784,
|
134 |
+
-0.001344683588807246,
|
135 |
+
0.0016035329945819229
|
136 |
+
],
|
137 |
+
"min": [
|
138 |
+
-0.1332162469625473,
|
139 |
+
-0.12558980286121368,
|
140 |
+
-0.1296357959508896,
|
141 |
+
-0.41924750804901123,
|
142 |
+
-0.40395763516426086,
|
143 |
+
-1.1371713876724243,
|
144 |
+
-0.1178487241268158
|
145 |
+
],
|
146 |
+
"std": [
|
147 |
+
0.052842640543493816,
|
148 |
+
0.03503659196496774,
|
149 |
+
0.043667218190468676,
|
150 |
+
0.052149108021601616,
|
151 |
+
0.04789315898078726,
|
152 |
+
0.09144133258177155,
|
153 |
+
0.04437857777713645
|
154 |
+
]
|
155 |
+
},
|
156 |
+
"episode_index": {
|
157 |
+
"count": [
|
158 |
+
71094
|
159 |
+
],
|
160 |
+
"max": [
|
161 |
+
99
|
162 |
+
],
|
163 |
+
"mean": [
|
164 |
+
20.118730131937998
|
165 |
+
],
|
166 |
+
"min": [
|
167 |
+
0
|
168 |
+
],
|
169 |
+
"std": [
|
170 |
+
23.647310671191814
|
171 |
+
]
|
172 |
+
},
|
173 |
+
"frame_index": {
|
174 |
+
"count": [
|
175 |
+
71094
|
176 |
+
],
|
177 |
+
"max": [
|
178 |
+
4848
|
179 |
+
],
|
180 |
+
"mean": [
|
181 |
+
1175.7292176554984
|
182 |
+
],
|
183 |
+
"min": [
|
184 |
+
0
|
185 |
+
],
|
186 |
+
"std": [
|
187 |
+
1200.0940486499803
|
188 |
+
]
|
189 |
+
},
|
190 |
+
"index": {
|
191 |
+
"count": [
|
192 |
+
71094
|
193 |
+
],
|
194 |
+
"max": [
|
195 |
+
49846
|
196 |
+
],
|
197 |
+
"mean": [
|
198 |
+
20649.33274256618
|
199 |
+
],
|
200 |
+
"min": [
|
201 |
+
0
|
202 |
+
],
|
203 |
+
"std": [
|
204 |
+
14116.33134425189
|
205 |
+
]
|
206 |
+
},
|
207 |
+
"observation.gripper": {
|
208 |
+
"count": [
|
209 |
+
71094
|
210 |
+
],
|
211 |
+
"max": [
|
212 |
+
0.8901960849761963
|
213 |
+
],
|
214 |
+
"mean": [
|
215 |
+
0.49892664170777956
|
216 |
+
],
|
217 |
+
"min": [
|
218 |
+
0.0117647061124444
|
219 |
+
],
|
220 |
+
"std": [
|
221 |
+
0.2917724272929005
|
222 |
+
]
|
223 |
+
},
|
224 |
+
"observation.images.scene": {
|
225 |
+
"mean": [
|
226 |
+
[
|
227 |
+
[
|
228 |
+
0.485
|
229 |
+
]
|
230 |
+
],
|
231 |
+
[
|
232 |
+
[
|
233 |
+
0.456
|
234 |
+
]
|
235 |
+
],
|
236 |
+
[
|
237 |
+
[
|
238 |
+
0.406
|
239 |
+
]
|
240 |
+
]
|
241 |
+
],
|
242 |
+
"std": [
|
243 |
+
[
|
244 |
+
[
|
245 |
+
0.229
|
246 |
+
]
|
247 |
+
],
|
248 |
+
[
|
249 |
+
[
|
250 |
+
0.224
|
251 |
+
]
|
252 |
+
],
|
253 |
+
[
|
254 |
+
[
|
255 |
+
0.225
|
256 |
+
]
|
257 |
+
]
|
258 |
+
]
|
259 |
+
},
|
260 |
+
"observation.images.wrist": {
|
261 |
+
"mean": [
|
262 |
+
[
|
263 |
+
[
|
264 |
+
0.485
|
265 |
+
]
|
266 |
+
],
|
267 |
+
[
|
268 |
+
[
|
269 |
+
0.456
|
270 |
+
]
|
271 |
+
],
|
272 |
+
[
|
273 |
+
[
|
274 |
+
0.406
|
275 |
+
]
|
276 |
+
]
|
277 |
+
],
|
278 |
+
"std": [
|
279 |
+
[
|
280 |
+
[
|
281 |
+
0.229
|
282 |
+
]
|
283 |
+
],
|
284 |
+
[
|
285 |
+
[
|
286 |
+
0.224
|
287 |
+
]
|
288 |
+
],
|
289 |
+
[
|
290 |
+
[
|
291 |
+
0.225
|
292 |
+
]
|
293 |
+
]
|
294 |
+
]
|
295 |
+
},
|
296 |
+
"observation.q": {
|
297 |
+
"count": [
|
298 |
+
71094
|
299 |
+
],
|
300 |
+
"max": [
|
301 |
+
1.6827915906906128,
|
302 |
+
-1.1219412088394165,
|
303 |
+
2.078951597213745,
|
304 |
+
-1.1941850185394287,
|
305 |
+
-1.4552446603775024,
|
306 |
+
0.21100829541683197
|
307 |
+
],
|
308 |
+
"mean": [
|
309 |
+
1.318199329657317,
|
310 |
+
-1.5231203200559085,
|
311 |
+
1.6162142846779968,
|
312 |
+
-1.671709467847461,
|
313 |
+
-1.5731433814687394,
|
314 |
+
-0.24790083757591277
|
315 |
+
],
|
316 |
+
"min": [
|
317 |
+
0.8911412954330444,
|
318 |
+
-1.8656808137893677,
|
319 |
+
1.0919374227523804,
|
320 |
+
-1.9731884002685547,
|
321 |
+
-1.7184827327728271,
|
322 |
+
-0.6586407423019409
|
323 |
+
],
|
324 |
+
"std": [
|
325 |
+
0.14597893681153168,
|
326 |
+
0.08640260385456822,
|
327 |
+
0.12911382423065923,
|
328 |
+
0.0914624858325085,
|
329 |
+
0.02014990737808745,
|
330 |
+
0.14948820560597895
|
331 |
+
]
|
332 |
+
},
|
333 |
+
"observation.qd": {
|
334 |
+
"count": [
|
335 |
+
71094
|
336 |
+
],
|
337 |
+
"max": [
|
338 |
+
0.12272713333368301,
|
339 |
+
0.13995951414108276,
|
340 |
+
0.22830122709274292,
|
341 |
+
0.15577974915504456,
|
342 |
+
0.06531229615211487,
|
343 |
+
0.16315588355064392
|
344 |
+
],
|
345 |
+
"mean": [
|
346 |
+
-0.0016945528653266755,
|
347 |
+
-0.0019583146867407507,
|
348 |
+
0.0028492148017122748,
|
349 |
+
-0.0009146894503911304,
|
350 |
+
-4.592062190136123e-05,
|
351 |
+
-0.0016314134048398543
|
352 |
+
],
|
353 |
+
"min": [
|
354 |
+
-0.11868064105510712,
|
355 |
+
-0.14258810877799988,
|
356 |
+
-0.23119600117206573,
|
357 |
+
-0.18621522188186646,
|
358 |
+
-0.07434367388486862,
|
359 |
+
-0.14573587477207184
|
360 |
+
],
|
361 |
+
"std": [
|
362 |
+
0.043375216321019164,
|
363 |
+
0.041122474956062256,
|
364 |
+
0.061009075668246704,
|
365 |
+
0.04943305372904724,
|
366 |
+
0.008090700367284768,
|
367 |
+
0.04403155825768943
|
368 |
+
]
|
369 |
+
},
|
370 |
+
"observation.state": {
|
371 |
+
"count": [
|
372 |
+
71094
|
373 |
+
],
|
374 |
+
"max": [
|
375 |
+
0.16088612377643585,
|
376 |
+
-0.37526625394821167,
|
377 |
+
0.2635822296142578,
|
378 |
+
0.20305556058883667,
|
379 |
+
3.1415884494781494,
|
380 |
+
0.16817304491996765,
|
381 |
+
0.8901960849761963,
|
382 |
+
0.03767554834485054,
|
383 |
+
0.03871473670005798,
|
384 |
+
0.03429308161139488,
|
385 |
+
0.10210386663675308,
|
386 |
+
0.06498806923627853,
|
387 |
+
0.07435283809900284,
|
388 |
+
13.257452011108398,
|
389 |
+
20.860788345336914,
|
390 |
+
16.95211410522461,
|
391 |
+
5.056977272033691,
|
392 |
+
3.719749927520752,
|
393 |
+
0.3392840027809143,
|
394 |
+
1.6827915906906128,
|
395 |
+
-1.1219412088394165,
|
396 |
+
2.078951597213745,
|
397 |
+
-1.1941850185394287,
|
398 |
+
-1.4552446603775024,
|
399 |
+
0.21100829541683197,
|
400 |
+
0.12272713333368301,
|
401 |
+
0.13995951414108276,
|
402 |
+
0.22830122709274292,
|
403 |
+
0.15577974915504456,
|
404 |
+
0.06531229615211487,
|
405 |
+
0.16315588355064392
|
406 |
+
],
|
407 |
+
"mean": [
|
408 |
+
-0.022687432989073473,
|
409 |
+
-0.5120924244679006,
|
410 |
+
0.09441352874270323,
|
411 |
+
-0.005104603777005828,
|
412 |
+
0.5134773800001741,
|
413 |
+
0.00761687043114894,
|
414 |
+
0.49892450803646904,
|
415 |
+
-0.0007002966660508466,
|
416 |
+
0.0008930101442064827,
|
417 |
+
-0.00031487902164509875,
|
418 |
+
-2.9504775570476735e-05,
|
419 |
+
5.2664338965093654e-05,
|
420 |
+
-7.596923276440343e-05,
|
421 |
+
-0.0006051343810583854,
|
422 |
+
-0.0018909610149081527,
|
423 |
+
-0.13311317264394185,
|
424 |
+
0.00012748548514921837,
|
425 |
+
-0.0016447465488393714,
|
426 |
+
2.557779975616972e-06,
|
427 |
+
1.318199329657317,
|
428 |
+
-1.5231203200559085,
|
429 |
+
1.6162142846779968,
|
430 |
+
-1.671709467847461,
|
431 |
+
-1.5731433814687394,
|
432 |
+
-0.24790083757591277,
|
433 |
+
-0.0016945528653266755,
|
434 |
+
-0.0019583146867407507,
|
435 |
+
0.0028492148017122748,
|
436 |
+
-0.0009146894503911304,
|
437 |
+
-4.592062190136123e-05,
|
438 |
+
-0.0016314134048398543
|
439 |
+
],
|
440 |
+
"min": [
|
441 |
+
-0.25008803606033325,
|
442 |
+
-0.6764640212059021,
|
443 |
+
-0.00857107900083065,
|
444 |
+
-0.26908764243125916,
|
445 |
+
-3.1415889263153076,
|
446 |
+
-0.26780298352241516,
|
447 |
+
0.0117647061124444,
|
448 |
+
-0.03601638972759247,
|
449 |
+
-0.0344538614153862,
|
450 |
+
-0.03525979444384575,
|
451 |
+
-0.11039528995752335,
|
452 |
+
-0.06508084386587143,
|
453 |
+
-0.07405979931354523,
|
454 |
+
-18.464874267578125,
|
455 |
+
-22.13913345336914,
|
456 |
+
-28.36176872253418,
|
457 |
+
-5.164464473724365,
|
458 |
+
-3.1563363075256348,
|
459 |
+
-0.5897019505500793,
|
460 |
+
0.8911412954330444,
|
461 |
+
-1.8656808137893677,
|
462 |
+
1.0919374227523804,
|
463 |
+
-1.9731884002685547,
|
464 |
+
-1.7184827327728271,
|
465 |
+
-0.6586407423019409,
|
466 |
+
-0.11868064105510712,
|
467 |
+
-0.14258810877799988,
|
468 |
+
-0.23119600117206573,
|
469 |
+
-0.18621522188186646,
|
470 |
+
-0.07434367388486862,
|
471 |
+
-0.14573587477207184
|
472 |
+
],
|
473 |
+
"std": [
|
474 |
+
0.07764134005699591,
|
475 |
+
0.03560610608058791,
|
476 |
+
0.034105873168595625,
|
477 |
+
0.05032843849714554,
|
478 |
+
3.0845257654292753,
|
479 |
+
0.034421957841114285,
|
480 |
+
0.29177256643749566,
|
481 |
+
0.02247123593912592,
|
482 |
+
0.01619712005635333,
|
483 |
+
0.01902640654394574,
|
484 |
+
0.008860736795683758,
|
485 |
+
0.007958728569208815,
|
486 |
+
0.007391236334425389,
|
487 |
+
0.19983618895777253,
|
488 |
+
0.34537542303621976,
|
489 |
+
1.4092280369637538,
|
490 |
+
0.12080629867715896,
|
491 |
+
0.08864664831982697,
|
492 |
+
0.00303595449346391,
|
493 |
+
0.14597893681153168,
|
494 |
+
0.08640260385456822,
|
495 |
+
0.12911382423065923,
|
496 |
+
0.0914624858325085,
|
497 |
+
0.02014990737808745,
|
498 |
+
0.14948820560597895,
|
499 |
+
0.043375216321019164,
|
500 |
+
0.041122474956062256,
|
501 |
+
0.061009075668246704,
|
502 |
+
0.04943305372904724,
|
503 |
+
0.008090700367284768,
|
504 |
+
0.04403155825768943
|
505 |
+
]
|
506 |
+
},
|
507 |
+
"observation.tcp_pose": {
|
508 |
+
"count": [
|
509 |
+
71094
|
510 |
+
],
|
511 |
+
"max": [
|
512 |
+
0.16088612377643585,
|
513 |
+
-0.37526625394821167,
|
514 |
+
0.2635822296142578,
|
515 |
+
0.20305556058883667,
|
516 |
+
3.1415884494781494,
|
517 |
+
0.16817304491996765
|
518 |
+
],
|
519 |
+
"mean": [
|
520 |
+
-0.022687432989073473,
|
521 |
+
-0.5120924244679006,
|
522 |
+
0.09441352874270323,
|
523 |
+
-0.005104603777005828,
|
524 |
+
0.5134773800001741,
|
525 |
+
0.00761687043114894
|
526 |
+
],
|
527 |
+
"min": [
|
528 |
+
-0.25008803606033325,
|
529 |
+
-0.6764640212059021,
|
530 |
+
-0.00857107900083065,
|
531 |
+
-0.26908764243125916,
|
532 |
+
-3.1415889263153076,
|
533 |
+
-0.26780298352241516
|
534 |
+
],
|
535 |
+
"std": [
|
536 |
+
0.07764134005699591,
|
537 |
+
0.03560610608058791,
|
538 |
+
0.034105873168595625,
|
539 |
+
0.05032843849714554,
|
540 |
+
3.0845257654292753,
|
541 |
+
0.034421957841114285
|
542 |
+
]
|
543 |
+
},
|
544 |
+
"observation.tcp_speed": {
|
545 |
+
"count": [
|
546 |
+
71094
|
547 |
+
],
|
548 |
+
"max": [
|
549 |
+
0.03767554834485054,
|
550 |
+
0.03871473670005798,
|
551 |
+
0.03429308161139488,
|
552 |
+
0.10210386663675308,
|
553 |
+
0.06498806923627853,
|
554 |
+
0.07435283809900284
|
555 |
+
],
|
556 |
+
"mean": [
|
557 |
+
-0.0007002966660508466,
|
558 |
+
0.0008930101442064827,
|
559 |
+
-0.00031487902164509875,
|
560 |
+
-2.9504775570476735e-05,
|
561 |
+
5.2664338965093654e-05,
|
562 |
+
-7.596923276440343e-05
|
563 |
+
],
|
564 |
+
"min": [
|
565 |
+
-0.03601638972759247,
|
566 |
+
-0.0344538614153862,
|
567 |
+
-0.03525979444384575,
|
568 |
+
-0.11039528995752335,
|
569 |
+
-0.06508084386587143,
|
570 |
+
-0.07405979931354523
|
571 |
+
],
|
572 |
+
"std": [
|
573 |
+
0.02247123593912592,
|
574 |
+
0.01619712005635333,
|
575 |
+
0.01902640654394574,
|
576 |
+
0.008860736795683758,
|
577 |
+
0.007958728569208815,
|
578 |
+
0.007391236334425389
|
579 |
+
]
|
580 |
+
},
|
581 |
+
"observation.wrench": {
|
582 |
+
"count": [
|
583 |
+
71094
|
584 |
+
],
|
585 |
+
"max": [
|
586 |
+
13.257452011108398,
|
587 |
+
20.860788345336914,
|
588 |
+
16.95211410522461,
|
589 |
+
5.056977272033691,
|
590 |
+
3.719749927520752,
|
591 |
+
0.3392840027809143
|
592 |
+
],
|
593 |
+
"mean": [
|
594 |
+
-0.0006051343810583854,
|
595 |
+
-0.0018909610149081527,
|
596 |
+
-0.13311317264394185,
|
597 |
+
0.00012748548514921837,
|
598 |
+
-0.0016447465488393714,
|
599 |
+
2.557779975616972e-06
|
600 |
+
],
|
601 |
+
"min": [
|
602 |
+
-18.464874267578125,
|
603 |
+
-22.13913345336914,
|
604 |
+
-28.36176872253418,
|
605 |
+
-5.164464473724365,
|
606 |
+
-3.1563363075256348,
|
607 |
+
-0.5897019505500793
|
608 |
+
],
|
609 |
+
"std": [
|
610 |
+
0.19983618895777253,
|
611 |
+
0.34537542303621976,
|
612 |
+
1.4092280369637538,
|
613 |
+
0.12080629867715896,
|
614 |
+
0.08864664831982697,
|
615 |
+
0.00303595449346391
|
616 |
+
]
|
617 |
+
},
|
618 |
+
"task_index": {
|
619 |
+
"count": [
|
620 |
+
71094
|
621 |
+
],
|
622 |
+
"max": [
|
623 |
+
0
|
624 |
+
],
|
625 |
+
"mean": [
|
626 |
+
0.0
|
627 |
+
],
|
628 |
+
"min": [
|
629 |
+
0
|
630 |
+
],
|
631 |
+
"std": [
|
632 |
+
0.0
|
633 |
+
]
|
634 |
+
},
|
635 |
+
"timestamp": {
|
636 |
+
"count": [
|
637 |
+
71094
|
638 |
+
],
|
639 |
+
"max": [
|
640 |
+
484.8
|
641 |
+
],
|
642 |
+
"mean": [
|
643 |
+
117.57292176554984
|
644 |
+
],
|
645 |
+
"min": [
|
646 |
+
0.0
|
647 |
+
],
|
648 |
+
"std": [
|
649 |
+
120.00940486499805
|
650 |
+
]
|
651 |
+
}
|
652 |
+
},
|
653 |
+
"task_cfg": {
|
654 |
+
"action_dim": 7,
|
655 |
+
"action_key": "action",
|
656 |
+
"dataset_episodes": [],
|
657 |
+
"dataset_repo_id": "iantc104/wmil_peg_in_hole_noisy",
|
658 |
+
"dataset_root": "",
|
659 |
+
"envs": {},
|
660 |
+
"fps": 10.0,
|
661 |
+
"image_keys": [
|
662 |
+
"observation.images.scene",
|
663 |
+
"observation.images.wrist"
|
664 |
+
],
|
665 |
+
"override_stats": {
|
666 |
+
"observation.images.scene": {
|
667 |
+
"mean": [
|
668 |
+
[
|
669 |
+
[
|
670 |
+
0.485
|
671 |
+
]
|
672 |
+
],
|
673 |
+
[
|
674 |
+
[
|
675 |
+
0.456
|
676 |
+
]
|
677 |
+
],
|
678 |
+
[
|
679 |
+
[
|
680 |
+
0.406
|
681 |
+
]
|
682 |
+
]
|
683 |
+
],
|
684 |
+
"std": [
|
685 |
+
[
|
686 |
+
[
|
687 |
+
0.229
|
688 |
+
]
|
689 |
+
],
|
690 |
+
[
|
691 |
+
[
|
692 |
+
0.224
|
693 |
+
]
|
694 |
+
],
|
695 |
+
[
|
696 |
+
[
|
697 |
+
0.225
|
698 |
+
]
|
699 |
+
]
|
700 |
+
]
|
701 |
+
},
|
702 |
+
"observation.images.wrist": {
|
703 |
+
"mean": [
|
704 |
+
[
|
705 |
+
[
|
706 |
+
0.485
|
707 |
+
]
|
708 |
+
],
|
709 |
+
[
|
710 |
+
[
|
711 |
+
0.456
|
712 |
+
]
|
713 |
+
],
|
714 |
+
[
|
715 |
+
[
|
716 |
+
0.406
|
717 |
+
]
|
718 |
+
]
|
719 |
+
],
|
720 |
+
"std": [
|
721 |
+
[
|
722 |
+
[
|
723 |
+
0.229
|
724 |
+
]
|
725 |
+
],
|
726 |
+
[
|
727 |
+
[
|
728 |
+
0.224
|
729 |
+
]
|
730 |
+
],
|
731 |
+
[
|
732 |
+
[
|
733 |
+
0.225
|
734 |
+
]
|
735 |
+
]
|
736 |
+
]
|
737 |
+
}
|
738 |
+
},
|
739 |
+
"state_dim": 31,
|
740 |
+
"state_key": "observation.state",
|
741 |
+
"type": "ur5"
|
742 |
+
}
|
743 |
+
}
|
model.safetensors
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:2d0deb3d3c46c713af64314375efe8f2709ae5aeb3f3f5850bc2ac4cde5a4701
|
3 |
+
size 145434372
|