Upload folder using huggingface_hub
Browse files- pretrained_model/config.json +126 -0
- pretrained_model/model.safetensors +3 -0
- pretrained_model/train_config.json +274 -0
- training_state/optimizer_param_groups.json +234 -0
- training_state/optimizer_state.safetensors +3 -0
- training_state/rng_state.safetensors +3 -0
- training_state/scheduler_state.json +14 -0
- training_state/training_step.json +3 -0
pretrained_model/config.json
ADDED
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{
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"type": "dot",
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"n_obs_steps": 3,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MIN_MAX",
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"ENV": "MIN_MAX",
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"ACTION": "MIN_MAX"
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},
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"input_features": {
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"observation.image": {
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"type": "VISUAL",
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"shape": [
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3,
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96,
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96
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]
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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2
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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2
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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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"train_horizon": 20,
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"inference_horizon": 20,
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"lookback_obs_steps": 10,
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"lookback_aug": 5,
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"override_dataset_stats": false,
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"new_dataset_stats": {
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"action": {
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"max": [
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512.0,
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],
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"min": [
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]
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},
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"observation.environment_state": {
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"max": [
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512.0,
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512.0
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],
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"min": [
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},
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"observation.state": {
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"max": [
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512.0,
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512.0
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],
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"min": [
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]
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}
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},
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"vision_backbone": "resnet18",
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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"pre_norm": true,
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"lora_rank": 20,
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"merge_lora": false,
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"dim_model": 128,
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"n_heads": 8,
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"dim_feedforward": 512,
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"n_decoder_layers": 8,
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"rescale_shape": [
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96,
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96
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],
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"crop_scale": 0.8,
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"state_noise": 0.01,
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"noise_decay": 0.999995,
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"dropout": 0.1,
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"alpha": 0.75,
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"train_alpha": 0.9,
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"predict_every_n": 1,
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"return_every_n": 2,
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"optimizer_lr": 0.0001,
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"optimizer_min_lr": 0.0001,
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"optimizer_lr_cycle_steps": 300000,
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"optimizer_weight_decay": 1e-05
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}
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pretrained_model/model.safetensors
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:8a9aa1742703568be73fe008a3e06ebf678cc0d8190f322107cda6d900168445
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size 56412020
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pretrained_model/train_config.json
ADDED
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@@ -0,0 +1,274 @@
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| 1 |
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{
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| 2 |
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"dataset": {
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| 3 |
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"repo_id": "lerobot/pusht",
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| 4 |
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"root": null,
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| 5 |
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"episodes": null,
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| 6 |
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"image_transforms": {
|
| 7 |
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"enable": false,
|
| 8 |
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"max_num_transforms": 3,
|
| 9 |
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"random_order": false,
|
| 10 |
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"tfs": {
|
| 11 |
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"brightness": {
|
| 12 |
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"weight": 1.0,
|
| 13 |
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"type": "ColorJitter",
|
| 14 |
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"kwargs": {
|
| 15 |
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"brightness": [
|
| 16 |
+
0.8,
|
| 17 |
+
1.2
|
| 18 |
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]
|
| 19 |
+
}
|
| 20 |
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},
|
| 21 |
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"contrast": {
|
| 22 |
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"weight": 1.0,
|
| 23 |
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"type": "ColorJitter",
|
| 24 |
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"kwargs": {
|
| 25 |
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"contrast": [
|
| 26 |
+
0.8,
|
| 27 |
+
1.2
|
| 28 |
+
]
|
| 29 |
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}
|
| 30 |
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},
|
| 31 |
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"saturation": {
|
| 32 |
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"weight": 1.0,
|
| 33 |
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"type": "ColorJitter",
|
| 34 |
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"kwargs": {
|
| 35 |
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"saturation": [
|
| 36 |
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0.5,
|
| 37 |
+
1.5
|
| 38 |
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]
|
| 39 |
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}
|
| 40 |
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},
|
| 41 |
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"hue": {
|
| 42 |
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"weight": 1.0,
|
| 43 |
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"type": "ColorJitter",
|
| 44 |
+
"kwargs": {
|
| 45 |
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"hue": [
|
| 46 |
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-0.05,
|
| 47 |
+
0.05
|
| 48 |
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]
|
| 49 |
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}
|
| 50 |
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},
|
| 51 |
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"sharpness": {
|
| 52 |
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"weight": 1.0,
|
| 53 |
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"type": "SharpnessJitter",
|
| 54 |
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"kwargs": {
|
| 55 |
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"sharpness": [
|
| 56 |
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0.5,
|
| 57 |
+
1.5
|
| 58 |
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]
|
| 59 |
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}
|
| 60 |
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}
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"revision": null,
|
| 64 |
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"use_imagenet_stats": true,
|
| 65 |
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"video_backend": "torchcodec"
|
| 66 |
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},
|
| 67 |
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"env": {
|
| 68 |
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"type": "pusht",
|
| 69 |
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"task": "PushT-v0",
|
| 70 |
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"fps": 10,
|
| 71 |
+
"features": {
|
| 72 |
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"action": {
|
| 73 |
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"type": "ACTION",
|
| 74 |
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"shape": [
|
| 75 |
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2
|
| 76 |
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]
|
| 77 |
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},
|
| 78 |
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"agent_pos": {
|
| 79 |
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"type": "STATE",
|
| 80 |
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"shape": [
|
| 81 |
+
2
|
| 82 |
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]
|
| 83 |
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},
|
| 84 |
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"pixels": {
|
| 85 |
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"type": "VISUAL",
|
| 86 |
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"shape": [
|
| 87 |
+
384,
|
| 88 |
+
384,
|
| 89 |
+
3
|
| 90 |
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]
|
| 91 |
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}
|
| 92 |
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},
|
| 93 |
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"features_map": {
|
| 94 |
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"action": "action",
|
| 95 |
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"agent_pos": "observation.state",
|
| 96 |
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"environment_state": "observation.environment_state",
|
| 97 |
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"pixels": "observation.image"
|
| 98 |
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},
|
| 99 |
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"episode_length": 300,
|
| 100 |
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"obs_type": "pixels_agent_pos",
|
| 101 |
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"render_mode": "rgb_array",
|
| 102 |
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"visualization_width": 384,
|
| 103 |
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"visualization_height": 384
|
| 104 |
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},
|
| 105 |
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"policy": {
|
| 106 |
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"type": "dot",
|
| 107 |
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"n_obs_steps": 3,
|
| 108 |
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"normalization_mapping": {
|
| 109 |
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|
| 111 |
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| 115 |
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|
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|
| 232 |
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|
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|
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|
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|
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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|
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|
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|
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
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|
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|
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|
| 259 |
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|
| 260 |
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|
| 261 |
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|
| 262 |
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|
| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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| 269 |
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|
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|
| 272 |
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|
| 273 |
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|
| 274 |
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}
|
training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,234 @@
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|
| 196 |
+
178,
|
| 197 |
+
179,
|
| 198 |
+
180,
|
| 199 |
+
181,
|
| 200 |
+
182,
|
| 201 |
+
183,
|
| 202 |
+
184,
|
| 203 |
+
185,
|
| 204 |
+
186,
|
| 205 |
+
187,
|
| 206 |
+
188,
|
| 207 |
+
189,
|
| 208 |
+
190,
|
| 209 |
+
191,
|
| 210 |
+
192,
|
| 211 |
+
193,
|
| 212 |
+
194,
|
| 213 |
+
195,
|
| 214 |
+
196,
|
| 215 |
+
197,
|
| 216 |
+
198,
|
| 217 |
+
199,
|
| 218 |
+
200,
|
| 219 |
+
201,
|
| 220 |
+
202,
|
| 221 |
+
203,
|
| 222 |
+
204,
|
| 223 |
+
205,
|
| 224 |
+
206,
|
| 225 |
+
207,
|
| 226 |
+
208,
|
| 227 |
+
209,
|
| 228 |
+
210,
|
| 229 |
+
211,
|
| 230 |
+
212,
|
| 231 |
+
213
|
| 232 |
+
]
|
| 233 |
+
}
|
| 234 |
+
]
|
training_state/optimizer_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3c468d37b0ef41af6c66230ce2f0a23c4f355cf85c7ae1895a6f4113d67dce2f
|
| 3 |
+
size 23269624
|
training_state/rng_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:646de15df82f24f048346be8a2f5d247eb35ba91e0816a38f4f5b0c3ab597e40
|
| 3 |
+
size 15708
|
training_state/scheduler_state.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"T_max": 300000,
|
| 3 |
+
"eta_min": 0.0001,
|
| 4 |
+
"base_lrs": [
|
| 5 |
+
0.0001
|
| 6 |
+
],
|
| 7 |
+
"last_epoch": 100000,
|
| 8 |
+
"verbose": false,
|
| 9 |
+
"_step_count": 100001,
|
| 10 |
+
"_get_lr_called_within_step": false,
|
| 11 |
+
"_last_lr": [
|
| 12 |
+
0.0001
|
| 13 |
+
]
|
| 14 |
+
}
|
training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"step": 100000
|
| 3 |
+
}
|