Push model using huggingface_hub.

README.md

@@ -0,0 +1,10 @@
+---
+tags:
+- model_hub_mixin
+- pytorch_model_hub_mixin
+---
+
+This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
+- Code: [More Information Needed]
+- Paper: [More Information Needed]
+- Docs: [More Information Needed]

config.json

@@ -0,0 +1,758 @@
+{
+  "policy_cfg": {
+    "action_norm_mode": "min_max",
+    "attn_depths": [
+      0,
+      0,
+      0,
+      0
+    ],
+    "channels": [
+      64,
+      64,
+      64,
+      64
+    ],
+    "cond_channels": 256,
+    "depths": [
+      2,
+      2,
+      2,
+      2
+    ],
+    "drop_n_last_frames": 5,
+    "ema_decay": 0.9999,
+    "image_norm_mode": "mean_std",
+    "input_shape": [
+      84,
+      84
+    ],
+    "n_obs_steps": 1,
+    "n_sampling_steps": 5,
+    "optimizer_betas": [
+      0.95,
+      0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_lr": 0.0001,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 500,
+    "state_norm_mode": "min_max",
+    "step_size": 5,
+    "time_dim": 128,
+    "type": "world_model",
+    "use_ema": true
+  },
+  "stats": {
+    "action": {
+      "count": [
+        71094
+      ],
+      "max": [
+        0.13050895929336548,
+        0.12782792747020721,
+        0.1310315728187561,
+        0.4076690077781677,
+        0.4080283045768738,
+        1.112401008605957,
+        0.1412312388420105
+      ],
+      "mean": [
+        -0.0016794727103856908,
+        0.001908041936698304,
+        0.001278865833036496,
+        -0.0001848477806694988,
+        0.0004371102705043784,
+        -0.001344683588807246,
+        0.0016035329945819229
+      ],
+      "min": [
+        -0.1332162469625473,
+        -0.12558980286121368,
+        -0.1296357959508896,
+        -0.41924750804901123,
+        -0.40395763516426086,
+        -1.1371713876724243,
+        -0.1178487241268158
+      ],
+      "std": [
+        0.052842640543493816,
+        0.03503659196496774,
+        0.043667218190468676,
+        0.052149108021601616,
+        0.04789315898078726,
+        0.09144133258177155,
+        0.04437857777713645
+      ]
+    },
+    "action.absolute": {
+      "count": [
+        71094
+      ],
+      "max": [
+        0.2283231019973755,
+        -0.2796611189842224,
+        0.33734452724456787,
+        1.6977882385253906,
+        3.141589403152466,
+        0.6707741022109985,
+        0.9901960492134094
+      ],
+      "mean": [
+        -0.024366905563049185,
+        -0.5101843556475095,
+        0.0956924008419585,
+        -0.004638735206165781,
+        0.6386122004148825,
+        0.005532952948331576,
+        0.5458974745740273
+      ],
+      "min": [
+        -0.3173721730709076,
+        -0.7650580406188965,
+        -0.09576214104890823,
+        -1.7423254251480103,
+        -3.141590118408203,
+        -0.6504083275794983,
+        -0.09019386023283005
+      ],
+      "std": [
+        0.09311463031283773,
+        0.04885433945157392,
+        0.05359912211779894,
+        0.14492803443798513,
+        3.042929168060467,
+        0.08568170439141781,
+        0.3370375265892264
+      ]
+    },
+    "action.delta": {
+      "count": [
+        71094
+      ],
+      "max": [
+        0.13050895929336548,
+        0.12782792747020721,
+        0.1310315728187561,
+        0.4076690077781677,
+        0.4080283045768738,
+        1.112401008605957,
+        0.1412312388420105
+      ],
+      "mean": [
+        -0.0016794727103856908,
+        0.001908041936698304,
+        0.001278865833036496,
+        -0.0001848477806694988,
+        0.0004371102705043784,
+        -0.001344683588807246,
+        0.0016035329945819229
+      ],
+      "min": [
+        -0.1332162469625473,
+        -0.12558980286121368,
+        -0.1296357959508896,
+        -0.41924750804901123,
+        -0.40395763516426086,
+        -1.1371713876724243,
+        -0.1178487241268158
+      ],
+      "std": [
+        0.052842640543493816,
+        0.03503659196496774,
+        0.043667218190468676,
+        0.052149108021601616,
+        0.04789315898078726,
+        0.09144133258177155,
+        0.04437857777713645
+      ]
+    },
+    "episode_index": {
+      "count": [
+        71094
+      ],
+      "max": [
+        99
+      ],
+      "mean": [
+        20.118730131937998
+      ],
+      "min": [
+        0
+      ],
+      "std": [
+        23.647310671191814
+      ]
+    },
+    "frame_index": {
+      "count": [
+        71094
+      ],
+      "max": [
+        4848
+      ],
+      "mean": [
+        1175.7292176554984
+      ],
+      "min": [
+        0
+      ],
+      "std": [
+        1200.0940486499803
+      ]
+    },
+    "index": {
+      "count": [
+        71094
+      ],
+      "max": [
+        49846
+      ],
+      "mean": [
+        20649.33274256618
+      ],
+      "min": [
+        0
+      ],
+      "std": [
+        14116.33134425189
+      ]
+    },
+    "observation.gripper": {
+      "count": [
+        71094
+      ],
+      "max": [
+        0.8901960849761963
+      ],
+      "mean": [
+        0.49892664170777956
+      ],
+      "min": [
+        0.0117647061124444
+      ],
+      "std": [
+        0.2917724272929005
+      ]
+    },
+    "observation.images.scene": {
+      "mean": [
+        [
+          [
+            0.485
+          ]
+        ],
+        [
+          [
+            0.456
+          ]
+        ],
+        [
+          [
+            0.406
+          ]
+        ]
+      ],
+      "std": [
+        [
+          [
+            0.229
+          ]
+        ],
+        [
+          [
+            0.224
+          ]
+        ],
+        [
+          [
+            0.225
+          ]
+        ]
+      ]
+    },
+    "observation.images.wrist": {
+      "mean": [
+        [
+          [
+            0.485
+          ]
+        ],
+        [
+          [
+            0.456
+          ]
+        ],
+        [
+          [
+            0.406
+          ]
+        ]
+      ],
+      "std": [
+        [
+          [
+            0.229
+          ]
+        ],
+        [
+          [
+            0.224
+          ]
+        ],
+        [
+          [
+            0.225
+          ]
+        ]
+      ]
+    },
+    "observation.q": {
+      "count": [
+        71094
+      ],
+      "max": [
+        1.6827915906906128,
+        -1.1219412088394165,
+        2.078951597213745,
+        -1.1941850185394287,
+        -1.4552446603775024,
+        0.21100829541683197
+      ],
+      "mean": [
+        1.318199329657317,
+        -1.5231203200559085,
+        1.6162142846779968,
+        -1.671709467847461,
+        -1.5731433814687394,
+        -0.24790083757591277
+      ],
+      "min": [
+        0.8911412954330444,
+        -1.8656808137893677,
+        1.0919374227523804,
+        -1.9731884002685547,
+        -1.7184827327728271,
+        -0.6586407423019409
+      ],
+      "std": [
+        0.14597893681153168,
+        0.08640260385456822,
+        0.12911382423065923,
+        0.0914624858325085,
+        0.02014990737808745,
+        0.14948820560597895
+      ]
+    },
+    "observation.qd": {
+      "count": [
+        71094
+      ],
+      "max": [
+        0.12272713333368301,
+        0.13995951414108276,
+        0.22830122709274292,
+        0.15577974915504456,
+        0.06531229615211487,
+        0.16315588355064392
+      ],
+      "mean": [
+        -0.0016945528653266755,
+        -0.0019583146867407507,
+        0.0028492148017122748,
+        -0.0009146894503911304,
+        -4.592062190136123e-05,
+        -0.0016314134048398543
+      ],
+      "min": [
+        -0.11868064105510712,
+        -0.14258810877799988,
+        -0.23119600117206573,
+        -0.18621522188186646,
+        -0.07434367388486862,
+        -0.14573587477207184
+      ],
+      "std": [
+        0.043375216321019164,
+        0.041122474956062256,
+        0.061009075668246704,
+        0.04943305372904724,
+        0.008090700367284768,
+        0.04403155825768943
+      ]
+    },
+    "observation.state": {
+      "count": [
+        71094
+      ],
+      "max": [
+        0.16088612377643585,
+        -0.37526625394821167,
+        0.2635822296142578,
+        0.20305556058883667,
+        3.1415884494781494,
+        0.16817304491996765,
+        0.8901960849761963,
+        0.03767554834485054,
+        0.03871473670005798,
+        0.03429308161139488,
+        0.10210386663675308,
+        0.06498806923627853,
+        0.07435283809900284,
+        13.257452011108398,
+        20.860788345336914,
+        16.95211410522461,
+        5.056977272033691,
+        3.719749927520752,
+        0.3392840027809143,
+        1.6827915906906128,
+        -1.1219412088394165,
+        2.078951597213745,
+        -1.1941850185394287,
+        -1.4552446603775024,
+        0.21100829541683197,
+        0.12272713333368301,
+        0.13995951414108276,
+        0.22830122709274292,
+        0.15577974915504456,
+        0.06531229615211487,
+        0.16315588355064392
+      ],
+      "mean": [
+        -0.022687432989073473,
+        -0.5120924244679006,
+        0.09441352874270323,
+        -0.005104603777005828,
+        0.5134773800001741,
+        0.00761687043114894,
+        0.49892450803646904,
+        -0.0007002966660508466,
+        0.0008930101442064827,
+        -0.00031487902164509875,
+        -2.9504775570476735e-05,
+        5.2664338965093654e-05,
+        -7.596923276440343e-05,
+        -0.0006051343810583854,
+        -0.0018909610149081527,
+        -0.13311317264394185,
+        0.00012748548514921837,
+        -0.0016447465488393714,
+        2.557779975616972e-06,
+        1.318199329657317,
+        -1.5231203200559085,
+        1.6162142846779968,
+        -1.671709467847461,
+        -1.5731433814687394,
+        -0.24790083757591277,
+        -0.0016945528653266755,
+        -0.0019583146867407507,
+        0.0028492148017122748,
+        -0.0009146894503911304,
+        -4.592062190136123e-05,
+        -0.0016314134048398543
+      ],
+      "min": [
+        -0.25008803606033325,
+        -0.6764640212059021,
+        -0.00857107900083065,
+        -0.26908764243125916,
+        -3.1415889263153076,
+        -0.26780298352241516,
+        0.0117647061124444,
+        -0.03601638972759247,
+        -0.0344538614153862,
+        -0.03525979444384575,
+        -0.11039528995752335,
+        -0.06508084386587143,
+        -0.07405979931354523,
+        -18.464874267578125,
+        -22.13913345336914,
+        -28.36176872253418,
+        -5.164464473724365,
+        -3.1563363075256348,
+        -0.5897019505500793,
+        0.8911412954330444,
+        -1.8656808137893677,
+        1.0919374227523804,
+        -1.9731884002685547,
+        -1.7184827327728271,
+        -0.6586407423019409,
+        -0.11868064105510712,
+        -0.14258810877799988,
+        -0.23119600117206573,
+        -0.18621522188186646,
+        -0.07434367388486862,
+        -0.14573587477207184
+      ],
+      "std": [
+        0.07764134005699591,
+        0.03560610608058791,
+        0.034105873168595625,
+        0.05032843849714554,
+        3.0845257654292753,
+        0.034421957841114285,
+        0.29177256643749566,
+        0.02247123593912592,
+        0.01619712005635333,
+        0.01902640654394574,
+        0.008860736795683758,
+        0.007958728569208815,
+        0.007391236334425389,
+        0.19983618895777253,
+        0.34537542303621976,
+        1.4092280369637538,
+        0.12080629867715896,
+        0.08864664831982697,
+        0.00303595449346391,
+        0.14597893681153168,
+        0.08640260385456822,
+        0.12911382423065923,
+        0.0914624858325085,
+        0.02014990737808745,
+        0.14948820560597895,
+        0.043375216321019164,
+        0.041122474956062256,
+        0.061009075668246704,
+        0.04943305372904724,
+        0.008090700367284768,
+        0.04403155825768943
+      ]
+    },
+    "observation.tcp_pose": {
+      "count": [
+        71094
+      ],
+      "max": [
+        0.16088612377643585,
+        -0.37526625394821167,
+        0.2635822296142578,
+        0.20305556058883667,
+        3.1415884494781494,
+        0.16817304491996765
+      ],
+      "mean": [
+        -0.022687432989073473,
+        -0.5120924244679006,
+        0.09441352874270323,
+        -0.005104603777005828,
+        0.5134773800001741,
+        0.00761687043114894
+      ],
+      "min": [
+        -0.25008803606033325,
+        -0.6764640212059021,
+        -0.00857107900083065,
+        -0.26908764243125916,
+        -3.1415889263153076,
+        -0.26780298352241516
+      ],
+      "std": [
+        0.07764134005699591,
+        0.03560610608058791,
+        0.034105873168595625,
+        0.05032843849714554,
+        3.0845257654292753,
+        0.034421957841114285
+      ]
+    },
+    "observation.tcp_speed": {
+      "count": [
+        71094
+      ],
+      "max": [
+        0.03767554834485054,
+        0.03871473670005798,
+        0.03429308161139488,
+        0.10210386663675308,
+        0.06498806923627853,
+        0.07435283809900284
+      ],
+      "mean": [
+        -0.0007002966660508466,
+        0.0008930101442064827,
+        -0.00031487902164509875,
+        -2.9504775570476735e-05,
+        5.2664338965093654e-05,
+        -7.596923276440343e-05
+      ],
+      "min": [
+        -0.03601638972759247,
+        -0.0344538614153862,
+        -0.03525979444384575,
+        -0.11039528995752335,
+        -0.06508084386587143,
+        -0.07405979931354523
+      ],
+      "std": [
+        0.02247123593912592,
+        0.01619712005635333,
+        0.01902640654394574,
+        0.008860736795683758,
+        0.007958728569208815,
+        0.007391236334425389
+      ]
+    },
+    "observation.wrench": {
+      "count": [
+        71094
+      ],
+      "max": [
+        13.257452011108398,
+        20.860788345336914,
+        16.95211410522461,
+        5.056977272033691,
+        3.719749927520752,
+        0.3392840027809143
+      ],
+      "mean": [
+        -0.0006051343810583854,
+        -0.0018909610149081527,
+        -0.13311317264394185,
+        0.00012748548514921837,
+        -0.0016447465488393714,
+        2.557779975616972e-06
+      ],
+      "min": [
+        -18.464874267578125,
+        -22.13913345336914,
+        -28.36176872253418,
+        -5.164464473724365,
+        -3.1563363075256348,
+        -0.5897019505500793
+      ],
+      "std": [
+        0.19983618895777253,
+        0.34537542303621976,
+        1.4092280369637538,
+        0.12080629867715896,
+        0.08864664831982697,
+        0.00303595449346391
+      ]
+    },
+    "task_index": {
+      "count": [
+        71094
+      ],
+      "max": [
+        0
+      ],
+      "mean": [
+        0.0
+      ],
+      "min": [
+        0
+      ],
+      "std": [
+        0.0
+      ]
+    },
+    "timestamp": {
+      "count": [
+        71094
+      ],
+      "max": [
+        484.8
+      ],
+      "mean": [
+        117.57292176554984
+      ],
+      "min": [
+        0.0
+      ],
+      "std": [
+        120.00940486499805
+      ]
+    }
+  },
+  "task_cfg": {
+    "action_dim": 7,
+    "action_key": "action",
+    "dataset_episodes": [],
+    "dataset_repo_id": "iantc104/wmil_peg_in_hole_noisy",
+    "dataset_root": "",
+    "envs": {},
+    "fps": 10.0,
+    "image_keys": [
+      "observation.images.scene",
+      "observation.images.wrist"
+    ],
+    "override_stats": {
+      "observation.images.scene": {
+        "mean": [
+          [
+            [
+              0.485
+            ]
+          ],
+          [
+            [
+              0.456
+            ]
+          ],
+          [
+            [
+              0.406
+            ]
+          ]
+        ],
+        "std": [
+          [
+            [
+              0.229
+            ]
+          ],
+          [
+            [
+              0.224
+            ]
+          ],
+          [
+            [
+              0.225
+            ]
+          ]
+        ]
+      },
+      "observation.images.wrist": {
+        "mean": [
+          [
+            [
+              0.485
+            ]
+          ],
+          [
+            [
+              0.456
+            ]
+          ],
+          [
+            [
+              0.406
+            ]
+          ]
+        ],
+        "std": [
+          [
+            [
+              0.229
+            ]
+          ],
+          [
+            [
+              0.224
+            ]
+          ],
+          [
+            [
+              0.225
+            ]
+          ]
+        ]
+      }
+    },
+    "state_dim": 31,
+    "state_key": "observation.state",
+    "type": "ur5"
+  }
+}

model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:913c0861c5c42daf276dcf2fe8fac6729f729de59373b37014a4a425dbfda349
+size 18215696