Upload folder using huggingface_hub
Browse files- config.json +115 -0
- model.safetensors +3 -0
- training_config.yaml +129 -0
config.json
ADDED
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{
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"type": "custom_pi0",
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"n_obs_steps": 1,
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"input_features": {},
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"output_features": {},
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"device": "cuda",
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"use_amp": false,
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| 8 |
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"use_peft": 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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"pretrained_path": "lerobot/pi0_base",
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"paligemma_variant": "gemma_2b",
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"action_expert_variant": "gemma_300m",
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"dtype": "bfloat16",
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"image_keys": [
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"robot0_robotview_image",
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"robot0_eye_in_hand_image"
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],
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"action_derivation_implementation": "ext__delta__osc__rotvec",
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"state_derivation_implementation": "rs_default",
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"normalization_stats": {
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"observation.state": {
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"mean": [
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1.069831168567631,
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0.9280827677356757,
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0.6500980088799709,
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0.8341998775202242,
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0.05805249210678411,
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0.08762804097311136
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],
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"std": [
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0.06349817660760358,
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1.694195263111645,
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2.3261636263757737,
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0.14145846058575146,
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0.9961632294015995
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]
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},
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| 61 |
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"action": {
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"mean": [
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0.0014429540247476425,
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| 64 |
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5.855477872899049e-05,
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0.00010094234202338543,
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-5.514898634610806e-05,
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-1.1709633593695834e-05,
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0.0023358867284308323,
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| 69 |
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0.08610835467349552
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],
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"std": [
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| 72 |
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0.0033159534044946504,
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| 73 |
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0.0020661345832887618,
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0.003004563348536115,
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0.012571091883774563,
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0.012866583562733206,
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0.026665803880115392,
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0.9962859772258239
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]
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}
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},
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"action_dim": 7,
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"chunk_size": 50,
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"max_state_dim": 32,
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| 85 |
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"max_action_dim": 32,
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| 86 |
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"num_inference_steps": 10,
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| 87 |
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"time_sampling_beta_alpha": 1.5,
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"time_sampling_beta_beta": 1.0,
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| 89 |
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"time_sampling_scale": 0.999,
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| 90 |
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"time_sampling_offset": 0.001,
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| 91 |
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"min_period": 0.004,
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"max_period": 4.0,
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"rtc_config": null,
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"image_resolution": [
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224,
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224
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],
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"gradient_checkpointing": true,
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"compile_model": true,
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"compile_mode": "max-autotune",
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"freeze_vision_encoder": false,
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"train_expert_only": false,
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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": 0.01,
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"optimizer_grad_clip_norm": 1.0,
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| 111 |
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"scheduler_warmup_steps": 1000,
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| 112 |
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"scheduler_decay_steps": 30000,
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| 113 |
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"scheduler_decay_lr": 2.5e-06,
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"tokenizer_max_length": 48
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}
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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 sha256:7301d63592d2ef1c6d5fd27daa1f697e633012e540181a3d612dd0e9eb9ae7ea
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size 8892502944
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training_config.yaml
ADDED
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dataloader:
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batch_size: 32
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implementation: robosuite_v1
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num_workers: 4
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pin_memory: true
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shuffle: true
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stats_calculation_samples: 50000
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task_override: Place the round nut on the round peg.
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dataset:
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repo_id: robotgeneralist/rs-demos-assembly
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| 11 |
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root: null
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eval:
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actions_per_chunk: 10
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base_seed: 0
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env_name: NutAssemblyRound
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eval_every: 500
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fps: 20
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max_steps: 400
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num_rollouts: 8
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task: Place the round nut on the round peg.
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policy:
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action_derivation_implementation: ext__delta__osc__rotvec
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action_dim: 7
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action_expert_variant: gemma_300m
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| 25 |
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chunk_size: 50
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compile_mode: max-autotune
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compile_model: true
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| 28 |
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device: cuda
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| 29 |
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dtype: bfloat16
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| 30 |
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freeze_vision_encoder: false
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| 31 |
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gradient_checkpointing: true
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| 32 |
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image_keys:
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| 33 |
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- robot0_robotview_image
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| 34 |
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- robot0_eye_in_hand_image
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| 35 |
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image_resolution:
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| 36 |
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- 224
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| 37 |
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- 224
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| 38 |
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input_features: {}
|
| 39 |
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license: null
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| 40 |
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max_action_dim: 32
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| 41 |
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max_period: 4.0
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| 42 |
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max_state_dim: 32
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| 43 |
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min_period: 0.004
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| 44 |
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n_obs_steps: 1
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| 45 |
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normalization_stats:
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| 46 |
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action:
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| 47 |
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mean:
|
| 48 |
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- 0.0014429540247476425
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| 49 |
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- 5.855477872899049e-05
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| 50 |
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- 0.00010094234202338543
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| 51 |
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- -5.514898634610806e-05
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| 52 |
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- -1.1709633593695834e-05
|
| 53 |
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- 0.0023358867284308323
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| 54 |
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- 0.08610835467349552
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| 55 |
+
std:
|
| 56 |
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- 0.0033159534044946504
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| 57 |
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- 0.0020661345832887618
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| 58 |
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- 0.003004563348536115
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| 59 |
+
- 0.012571091883774563
|
| 60 |
+
- 0.012866583562733206
|
| 61 |
+
- 0.026665803880115392
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| 62 |
+
- 0.9962859772258239
|
| 63 |
+
observation.state:
|
| 64 |
+
mean:
|
| 65 |
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- 0.011385115435902654
|
| 66 |
+
- -0.11066487852350426
|
| 67 |
+
- 0.9275649457826504
|
| 68 |
+
- 0.7494435731164166
|
| 69 |
+
- 1.069831168567631
|
| 70 |
+
- 0.06506713687963374
|
| 71 |
+
- 0.025805657331220012
|
| 72 |
+
- -0.02590401388618914
|
| 73 |
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- 0.01803541620692451
|
| 74 |
+
- -0.11212986440453838
|
| 75 |
+
- 0.9280827677356757
|
| 76 |
+
- 0.6500980088799709
|
| 77 |
+
- 0.8341998775202242
|
| 78 |
+
- 0.05805249210678411
|
| 79 |
+
- 0.08762804097311136
|
| 80 |
+
std:
|
| 81 |
+
- 0.1364878357112203
|
| 82 |
+
- 0.06521976306006763
|
| 83 |
+
- 0.05895699006536035
|
| 84 |
+
- 1.6648833415711914
|
| 85 |
+
- 2.2236785714685396
|
| 86 |
+
- 0.13710193958271333
|
| 87 |
+
- 0.011328591949326798
|
| 88 |
+
- 0.011394605880609308
|
| 89 |
+
- 0.13924010834100095
|
| 90 |
+
- 0.06349817660760358
|
| 91 |
+
- 0.06014770884144378
|
| 92 |
+
- 1.694195263111645
|
| 93 |
+
- 2.3261636263757737
|
| 94 |
+
- 0.14145846058575146
|
| 95 |
+
- 0.9961632294015995
|
| 96 |
+
num_inference_steps: 10
|
| 97 |
+
optimizer_betas:
|
| 98 |
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- 0.9
|
| 99 |
+
- 0.95
|
| 100 |
+
optimizer_eps: 1.0e-08
|
| 101 |
+
optimizer_grad_clip_norm: 1.0
|
| 102 |
+
optimizer_lr: 2.5e-05
|
| 103 |
+
optimizer_weight_decay: 0.01
|
| 104 |
+
output_features: {}
|
| 105 |
+
paligemma_variant: gemma_2b
|
| 106 |
+
pretrained_path: lerobot/pi0_base
|
| 107 |
+
private: null
|
| 108 |
+
push_to_hub: true
|
| 109 |
+
repo_id: null
|
| 110 |
+
rtc_config: null
|
| 111 |
+
scheduler_decay_lr: 2.5e-06
|
| 112 |
+
scheduler_decay_steps: 30000
|
| 113 |
+
scheduler_warmup_steps: 1000
|
| 114 |
+
state_derivation_implementation: rs_default
|
| 115 |
+
tags: null
|
| 116 |
+
time_sampling_beta_alpha: 1.5
|
| 117 |
+
time_sampling_beta_beta: 1.0
|
| 118 |
+
time_sampling_offset: 0.001
|
| 119 |
+
time_sampling_scale: 0.999
|
| 120 |
+
tokenizer_max_length: 48
|
| 121 |
+
train_expert_only: false
|
| 122 |
+
type: custom_pi0
|
| 123 |
+
use_amp: false
|
| 124 |
+
use_peft: false
|
| 125 |
+
push_to_hub: true
|
| 126 |
+
run_group: null
|
| 127 |
+
run_name: entropy_186321
|
| 128 |
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seed: 1000
|
| 129 |
+
steps: 10000
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