Hugging Face's logo

jadechoghari
/
dot_aloha_transfer

Safetensors
Model card Files Community
jadechoghari commited on
Commit
79d1a34
·
verified ·
1 Parent(s): 986ec2e

Upload folder using huggingface_hub

Browse files
Files changed (3) hide show
  1. config.json +126 -0
  2. model.safetensors +3 -0
  3. train_config.json +272 -0
config.json ADDED
@@ -0,0 +1,126 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "dot",
3
+ "n_obs_steps": 3,
4
+ "normalization_mapping": {
5
+ "VISUAL": "MEAN_STD",
6
+ "STATE": "MIN_MAX",
7
+ "ENV": "MIN_MAX",
8
+ "ACTION": "MIN_MAX"
9
+ },
10
+ "input_features": {
11
+ "observation.images.top": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ },
19
+ "observation.state": {
20
+ "type": "STATE",
21
+ "shape": [
22
+ 14
23
+ ]
24
+ }
25
+ },
26
+ "output_features": {
27
+ "action": {
28
+ "type": "ACTION",
29
+ "shape": [
30
+ 14
31
+ ]
32
+ }
33
+ },
34
+ "device": "cuda",
35
+ "use_amp": false,
36
+ "train_horizon": 75,
37
+ "inference_horizon": 50,
38
+ "lookback_obs_steps": 20,
39
+ "lookback_aug": 5,
40
+ "override_dataset_stats": false,
41
+ "new_dataset_stats": {
42
+ "action": {
43
+ "max": [
44
+ 512.0,
45
+ 512.0
46
+ ],
47
+ "min": [
48
+ 0.0,
49
+ 0.0
50
+ ]
51
+ },
52
+ "observation.environment_state": {
53
+ "max": [
54
+ 512.0,
55
+ 512.0,
56
+ 512.0,
57
+ 512.0,
58
+ 512.0,
59
+ 512.0,
60
+ 512.0,
61
+ 512.0,
62
+ 512.0,
63
+ 512.0,
64
+ 512.0,
65
+ 512.0,
66
+ 512.0,
67
+ 512.0,
68
+ 512.0,
69
+ 512.0
70
+ ],
71
+ "min": [
72
+ 0.0,
73
+ 0.0,
74
+ 0.0,
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 0.0,
79
+ 0.0,
80
+ 0.0,
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 0.0,
87
+ 0.0
88
+ ]
89
+ },
90
+ "observation.state": {
91
+ "max": [
92
+ 512.0,
93
+ 512.0
94
+ ],
95
+ "min": [
96
+ 0.0,
97
+ 0.0
98
+ ]
99
+ }
100
+ },
101
+ "vision_backbone": "resnet18",
102
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
103
+ "pre_norm": true,
104
+ "lora_rank": 20,
105
+ "merge_lora": false,
106
+ "dim_model": 128,
107
+ "n_heads": 8,
108
+ "dim_feedforward": 512,
109
+ "n_decoder_layers": 8,
110
+ "rescale_shape": [
111
+ 480,
112
+ 640
113
+ ],
114
+ "crop_scale": 0.8,
115
+ "state_noise": 0.01,
116
+ "noise_decay": 0.999995,
117
+ "dropout": 0.1,
118
+ "alpha": 0.98,
119
+ "train_alpha": 0.99,
120
+ "predict_every_n": 1,
121
+ "return_every_n": 1,
122
+ "optimizer_lr": 0.0001,
123
+ "optimizer_min_lr": 0.0001,
124
+ "optimizer_lr_cycle_steps": 100000,
125
+ "optimizer_weight_decay": 1e-05
126
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:253febb91c3444e1a9c1a88bfee4fd148ab08232d45bc5407fa66ab24d40e319
3
+ size 56473973
train_config.json ADDED
@@ -0,0 +1,272 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "lerobot/aloha_sim_transfer_cube_human",
4
+ "root": null,
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ }
61
+ }
62
+ },
63
+ "revision": null,
64
+ "use_imagenet_stats": true,
65
+ "video_backend": "torchcodec"
66
+ },
67
+ "env": {
68
+ "type": "aloha",
69
+ "task": "AlohaTransferCube-v0",
70
+ "fps": 50,
71
+ "features": {
72
+ "action": {
73
+ "type": "ACTION",
74
+ "shape": [
75
+ 14
76
+ ]
77
+ },
78
+ "agent_pos": {
79
+ "type": "STATE",
80
+ "shape": [
81
+ 14
82
+ ]
83
+ },
84
+ "pixels/top": {
85
+ "type": "VISUAL",
86
+ "shape": [
87
+ 480,
88
+ 640,
89
+ 3
90
+ ]
91
+ }
92
+ },
93
+ "features_map": {
94
+ "action": "action",
95
+ "agent_pos": "observation.state",
96
+ "top": "observation.image.top",
97
+ "pixels/top": "observation.images.top"
98
+ },
99
+ "episode_length": 400,
100
+ "obs_type": "pixels_agent_pos",
101
+ "render_mode": "rgb_array"
102
+ },
103
+ "policy": {
104
+ "type": "dot",
105
+ "n_obs_steps": 3,
106
+ "normalization_mapping": {
107
+ "VISUAL": "MEAN_STD",
108
+ "STATE": "MIN_MAX",
109
+ "ENV": "MIN_MAX",
110
+ "ACTION": "MIN_MAX"
111
+ },
112
+ "input_features": {
113
+ "observation.images.top": {
114
+ "type": "VISUAL",
115
+ "shape": [
116
+ 3,
117
+ 480,
118
+ 640
119
+ ]
120
+ },
121
+ "observation.state": {
122
+ "type": "STATE",
123
+ "shape": [
124
+ 14
125
+ ]
126
+ }
127
+ },
128
+ "output_features": {
129
+ "action": {
130
+ "type": "ACTION",
131
+ "shape": [
132
+ 14
133
+ ]
134
+ }
135
+ },
136
+ "device": "cuda",
137
+ "use_amp": false,
138
+ "train_horizon": 75,
139
+ "inference_horizon": 50,
140
+ "lookback_obs_steps": 20,
141
+ "lookback_aug": 5,
142
+ "override_dataset_stats": false,
143
+ "new_dataset_stats": {
144
+ "action": {
145
+ "max": [
146
+ 512.0,
147
+ 512.0
148
+ ],
149
+ "min": [
150
+ 0.0,
151
+ 0.0
152
+ ]
153
+ },
154
+ "observation.environment_state": {
155
+ "max": [
156
+ 512.0,
157
+ 512.0,
158
+ 512.0,
159
+ 512.0,
160
+ 512.0,
161
+ 512.0,
162
+ 512.0,
163
+ 512.0,
164
+ 512.0,
165
+ 512.0,
166
+ 512.0,
167
+ 512.0,
168
+ 512.0,
169
+ 512.0,
170
+ 512.0,
171
+ 512.0
172
+ ],
173
+ "min": [
174
+ 0.0,
175
+ 0.0,
176
+ 0.0,
177
+ 0.0,
178
+ 0.0,
179
+ 0.0,
180
+ 0.0,
181
+ 0.0,
182
+ 0.0,
183
+ 0.0,
184
+ 0.0,
185
+ 0.0,
186
+ 0.0,
187
+ 0.0,
188
+ 0.0,
189
+ 0.0
190
+ ]
191
+ },
192
+ "observation.state": {
193
+ "max": [
194
+ 512.0,
195
+ 512.0
196
+ ],
197
+ "min": [
198
+ 0.0,
199
+ 0.0
200
+ ]
201
+ }
202
+ },
203
+ "vision_backbone": "resnet18",
204
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
205
+ "pre_norm": true,
206
+ "lora_rank": 20,
207
+ "merge_lora": false,
208
+ "dim_model": 128,
209
+ "n_heads": 8,
210
+ "dim_feedforward": 512,
211
+ "n_decoder_layers": 8,
212
+ "rescale_shape": [
213
+ 480,
214
+ 640
215
+ ],
216
+ "crop_scale": 0.8,
217
+ "state_noise": 0.01,
218
+ "noise_decay": 0.999995,
219
+ "dropout": 0.1,
220
+ "alpha": 0.98,
221
+ "train_alpha": 0.99,
222
+ "predict_every_n": 1,
223
+ "return_every_n": 1,
224
+ "optimizer_lr": 0.0001,
225
+ "optimizer_min_lr": 0.0001,
226
+ "optimizer_lr_cycle_steps": 100000,
227
+ "optimizer_weight_decay": 1e-05
228
+ },
229
+ "output_dir": "outputs/train/pusht_aloha_transfer_cube",
230
+ "job_name": "aloha_dot",
231
+ "resume": false,
232
+ "seed": 100000,
233
+ "num_workers": 20,
234
+ "batch_size": 8,
235
+ "steps": 100000,
236
+ "eval_freq": 100000,
237
+ "log_freq": 200,
238
+ "save_checkpoint": true,
239
+ "save_freq": 100000,
240
+ "use_policy_training_preset": true,
241
+ "optimizer": {
242
+ "type": "adamw",
243
+ "lr": 0.0001,
244
+ "weight_decay": 1e-05,
245
+ "grad_clip_norm": 10.0,
246
+ "betas": [
247
+ 0.9,
248
+ 0.999
249
+ ],
250
+ "eps": 1e-08
251
+ },
252
+ "scheduler": {
253
+ "type": "cosine_annealing",
254
+ "num_warmup_steps": 0,
255
+ "min_lr": 0.0001,
256
+ "T_max": 100000
257
+ },
258
+ "eval": {
259
+ "n_episodes": 50,
260
+ "batch_size": 50,
261
+ "use_async_envs": false
262
+ },
263
+ "wandb": {
264
+ "enable": true,
265
+ "disable_artifact": false,
266
+ "project": "transfer_cube",
267
+ "entity": null,
268
+ "notes": null,
269
+ "run_id": null,
270
+ "mode": null
271
+ }
272
+ }