Push model using huggingface_hub.
Browse files- README.md +12 -0
- config.json +59 -0
- model.safetensors +3 -0
README.md
ADDED
|
@@ -0,0 +1,12 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
---
|
| 2 |
+
library_name: lerobot
|
| 3 |
+
tags:
|
| 4 |
+
- model_hub_mixin
|
| 5 |
+
- pytorch_model_hub_mixin
|
| 6 |
+
- robotics
|
| 7 |
+
- vqbet
|
| 8 |
+
---
|
| 9 |
+
|
| 10 |
+
This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
|
| 11 |
+
- Library: https://github.com/huggingface/lerobot
|
| 12 |
+
- Docs: [More Information Needed]
|
config.json
ADDED
|
@@ -0,0 +1,59 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_chunk_size": 5,
|
| 3 |
+
"bet_softmax_temperature": 0.1,
|
| 4 |
+
"crop_is_random": true,
|
| 5 |
+
"crop_shape": [
|
| 6 |
+
84,
|
| 7 |
+
84
|
| 8 |
+
],
|
| 9 |
+
"dropout": 0.1,
|
| 10 |
+
"gpt_block_size": 500,
|
| 11 |
+
"gpt_hidden_dim": 512,
|
| 12 |
+
"gpt_input_dim": 512,
|
| 13 |
+
"gpt_n_head": 8,
|
| 14 |
+
"gpt_n_layer": 8,
|
| 15 |
+
"gpt_output_dim": 512,
|
| 16 |
+
"input_normalization_modes": {
|
| 17 |
+
"observation.images.elp0": "mean_std",
|
| 18 |
+
"observation.images.elp1": "mean_std",
|
| 19 |
+
"observation.state": "mean_std"
|
| 20 |
+
},
|
| 21 |
+
"input_shapes": {
|
| 22 |
+
"observation.images.elp0": [
|
| 23 |
+
3,
|
| 24 |
+
600,
|
| 25 |
+
800
|
| 26 |
+
],
|
| 27 |
+
"observation.images.elp1": [
|
| 28 |
+
3,
|
| 29 |
+
600,
|
| 30 |
+
800
|
| 31 |
+
],
|
| 32 |
+
"observation.state": [
|
| 33 |
+
6
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
"mlp_hidden_dim": 1024,
|
| 37 |
+
"n_action_pred_token": 3,
|
| 38 |
+
"n_obs_steps": 1,
|
| 39 |
+
"n_vqvae_training_steps": 20000,
|
| 40 |
+
"offset_loss_weight": 10000.0,
|
| 41 |
+
"output_normalization_modes": {
|
| 42 |
+
"action": "min_max"
|
| 43 |
+
},
|
| 44 |
+
"output_shapes": {
|
| 45 |
+
"action": [
|
| 46 |
+
6
|
| 47 |
+
]
|
| 48 |
+
},
|
| 49 |
+
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
| 50 |
+
"primary_code_loss_weight": 5.0,
|
| 51 |
+
"secondary_code_loss_weight": 0.5,
|
| 52 |
+
"sequentially_select": false,
|
| 53 |
+
"spatial_softmax_num_keypoints": 32,
|
| 54 |
+
"use_group_norm": false,
|
| 55 |
+
"vision_backbone": "resnet18",
|
| 56 |
+
"vqvae_embedding_dim": 256,
|
| 57 |
+
"vqvae_enc_hidden_dim": 128,
|
| 58 |
+
"vqvae_n_embed": 16
|
| 59 |
+
}
|
model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2783e3acb4565e0e9253885fc69f1683b403af143e57fc04e9378d92c9ceb54e
|
| 3 |
+
size 159539962
|