Upload folder using huggingface_hub
Browse files- config.json +81 -0
- model.safetensors +3 -0
- train_config.json +168 -0
config.json
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{
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"type": "pi0",
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"n_obs_steps": 1,
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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},
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"input_features": {
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"observation.state": {
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"type": "STATE",
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"shape": [
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6
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]
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},
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"observation.images.wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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"observation.images.top": {
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"type": "VISUAL",
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"shape": [
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3,
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720,
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1280
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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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6
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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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"push_to_hub": true,
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"repo_id": null,
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"private": null,
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"tags": null,
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"license": null,
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"chunk_size": 50,
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"n_action_steps": 50,
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"max_state_dim": 32,
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"max_action_dim": 32,
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"resize_imgs_with_padding": [
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224,
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224
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],
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"empty_cameras": 0,
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"adapt_to_pi_aloha": false,
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"use_delta_joint_actions_aloha": false,
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"tokenizer_max_length": 200,
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"proj_width": 1024,
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"num_steps": 10,
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"use_cache": true,
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"attention_implementation": "eager",
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"freeze_vision_encoder": false,
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"train_expert_only": false,
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"train_state_proj": true,
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"optimizer_lr": 2.5e-05,
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"optimizer_betas": [
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0.9,
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0.95
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 1e-10,
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"scheduler_warmup_steps": 1000,
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"scheduler_decay_steps": 30000,
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"scheduler_decay_lr": 2.5e-06,
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"pi05": true,
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"pi05_state_tokens": 0,
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"pi05_state_in_text": false,
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"state_cond": true
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}
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model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:fcc5039141febf5bc1c364e35d57de716759a60a1c3cd2a9364b91d8395c55a8
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size 7779465352
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train_config.json
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{
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"dataset": {
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"repo_id": "Efficient-Large-Model/so101_block_to_container_all",
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"root": "/dataset/yufeis/datasets/so101_block_to_container_all",
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| 5 |
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"episodes": null,
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"image_transforms": {
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"enable": false,
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"max_num_transforms": 3,
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"random_order": false,
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"tfs": {
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"brightness": {
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"weight": 1.0,
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"type": "ColorJitter",
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"kwargs": {
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"brightness": [
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0.8,
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1.2
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]
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}
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},
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"contrast": {
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"weight": 1.0,
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"type": "ColorJitter",
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"kwargs": {
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"contrast": [
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0.8,
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1.2
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]
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}
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},
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"saturation": {
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"weight": 1.0,
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"type": "ColorJitter",
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| 34 |
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"kwargs": {
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"saturation": [
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0.5,
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1.5
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]
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}
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},
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"hue": {
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"weight": 1.0,
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| 43 |
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"type": "ColorJitter",
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| 44 |
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"kwargs": {
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"hue": [
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-0.05,
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0.05
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]
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}
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},
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"sharpness": {
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| 52 |
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"weight": 1.0,
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| 53 |
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"type": "SharpnessJitter",
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| 54 |
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"kwargs": {
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| 55 |
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"sharpness": [
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0.5,
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1.5
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]
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| 59 |
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}
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| 60 |
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}
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| 61 |
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}
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| 62 |
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},
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| 63 |
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"revision": null,
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| 64 |
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"use_imagenet_stats": true,
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| 65 |
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"video_backend": "torchcodec"
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| 66 |
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},
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| 67 |
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"env": null,
|
| 68 |
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"policy": {
|
| 69 |
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"type": "pi0",
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| 70 |
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"n_obs_steps": 1,
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| 71 |
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"normalization_mapping": {
|
| 72 |
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"VISUAL": "IDENTITY",
|
| 73 |
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"STATE": "MEAN_STD",
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| 74 |
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"ACTION": "MEAN_STD"
|
| 75 |
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},
|
| 76 |
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"input_features": {},
|
| 77 |
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"output_features": {},
|
| 78 |
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"device": "cuda",
|
| 79 |
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"use_amp": false,
|
| 80 |
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"push_to_hub": false,
|
| 81 |
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"repo_id": null,
|
| 82 |
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"private": null,
|
| 83 |
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"tags": null,
|
| 84 |
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"license": null,
|
| 85 |
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"chunk_size": 50,
|
| 86 |
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"n_action_steps": 50,
|
| 87 |
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"max_state_dim": 32,
|
| 88 |
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"max_action_dim": 32,
|
| 89 |
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"resize_imgs_with_padding": [
|
| 90 |
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224,
|
| 91 |
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224
|
| 92 |
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],
|
| 93 |
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"empty_cameras": 0,
|
| 94 |
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"adapt_to_pi_aloha": false,
|
| 95 |
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"use_delta_joint_actions_aloha": false,
|
| 96 |
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"tokenizer_max_length": 200,
|
| 97 |
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"proj_width": 1024,
|
| 98 |
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"num_steps": 10,
|
| 99 |
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"use_cache": true,
|
| 100 |
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"attention_implementation": "eager",
|
| 101 |
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"freeze_vision_encoder": false,
|
| 102 |
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"train_expert_only": false,
|
| 103 |
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"train_state_proj": true,
|
| 104 |
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"optimizer_lr": 2.5e-05,
|
| 105 |
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"optimizer_betas": [
|
| 106 |
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0.9,
|
| 107 |
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0.95
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| 108 |
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],
|
| 109 |
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"optimizer_eps": 1e-08,
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| 110 |
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"optimizer_weight_decay": 1e-10,
|
| 111 |
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"scheduler_warmup_steps": 1000,
|
| 112 |
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"scheduler_decay_steps": 30000,
|
| 113 |
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"scheduler_decay_lr": 2.5e-06,
|
| 114 |
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"pi05": true,
|
| 115 |
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"pi05_state_tokens": 0,
|
| 116 |
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"pi05_state_in_text": false,
|
| 117 |
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"state_cond": true
|
| 118 |
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},
|
| 119 |
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"output_dir": "/dataset/yufeis/checkpoints/pi05-so101_block_to_container_all-state_cond",
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| 120 |
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"job_name": "pi05-so101_block_to_container_all-state_cond",
|
| 121 |
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"resume": false,
|
| 122 |
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"seed": 42,
|
| 123 |
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"num_workers": 8,
|
| 124 |
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"batch_size": 8,
|
| 125 |
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"steps": 50000,
|
| 126 |
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"eval_freq": 1000000,
|
| 127 |
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"log_freq": 100,
|
| 128 |
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"save_checkpoint": true,
|
| 129 |
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"save_freq": 10000,
|
| 130 |
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"use_policy_training_preset": false,
|
| 131 |
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"optimizer": {
|
| 132 |
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"type": "adamw",
|
| 133 |
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"lr": 5e-05,
|
| 134 |
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"weight_decay": 1e-10,
|
| 135 |
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"grad_clip_norm": 10.0,
|
| 136 |
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"betas": [
|
| 137 |
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0.9,
|
| 138 |
+
0.95
|
| 139 |
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],
|
| 140 |
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"eps": 1e-08
|
| 141 |
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},
|
| 142 |
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"scheduler": {
|
| 143 |
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"type": "cosine_decay_with_warmup",
|
| 144 |
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"num_warmup_steps": 1000,
|
| 145 |
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"num_decay_steps": 50000,
|
| 146 |
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"peak_lr": 5e-05,
|
| 147 |
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"decay_lr": 2.5e-06
|
| 148 |
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},
|
| 149 |
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"eval": {
|
| 150 |
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"n_episodes": 50,
|
| 151 |
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"batch_size": 50,
|
| 152 |
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"use_async_envs": false
|
| 153 |
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},
|
| 154 |
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"wandb": {
|
| 155 |
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"enable": true,
|
| 156 |
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"disable_artifact": true,
|
| 157 |
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"project": "lerobot",
|
| 158 |
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"entity": null,
|
| 159 |
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"notes": null,
|
| 160 |
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"run_id": "x2iefpgq",
|
| 161 |
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"mode": null
|
| 162 |
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},
|
| 163 |
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"profile_steps": 0,
|
| 164 |
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"profile_skip_first": 100,
|
| 165 |
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"profile_output_dir": "trace.json",
|
| 166 |
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"async_interval": 0,
|
| 167 |
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"async_training_random": false
|
| 168 |
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}
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