pzal commited on
Commit
87e8beb
·
verified ·
1 Parent(s): 26bcc78

Upload folder using huggingface_hub

Browse files
Files changed (3) hide show
  1. config.json +115 -0
  2. model.safetensors +3 -0
  3. training_config.yaml +129 -0
config.json ADDED
@@ -0,0 +1,115 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "custom_pi0",
3
+ "n_obs_steps": 1,
4
+ "input_features": {},
5
+ "output_features": {},
6
+ "device": "cuda",
7
+ "use_amp": false,
8
+ "use_peft": false,
9
+ "push_to_hub": true,
10
+ "repo_id": null,
11
+ "private": null,
12
+ "tags": null,
13
+ "license": null,
14
+ "pretrained_path": "lerobot/pi0_base",
15
+ "paligemma_variant": "gemma_2b",
16
+ "action_expert_variant": "gemma_300m",
17
+ "dtype": "bfloat16",
18
+ "image_keys": [
19
+ "robot0_robotview_image",
20
+ "robot0_eye_in_hand_image"
21
+ ],
22
+ "action_derivation_implementation": "ext__delta__osc__rotvec",
23
+ "state_derivation_implementation": "rs_default",
24
+ "normalization_stats": {
25
+ "observation.state": {
26
+ "mean": [
27
+ 0.011385115435902654,
28
+ -0.11066487852350426,
29
+ 0.9275649457826504,
30
+ 0.7494435731164166,
31
+ 1.069831168567631,
32
+ 0.06506713687963374,
33
+ 0.025805657331220012,
34
+ -0.02590401388618914,
35
+ 0.01803541620692451,
36
+ -0.11212986440453838,
37
+ 0.9280827677356757,
38
+ 0.6500980088799709,
39
+ 0.8341998775202242,
40
+ 0.05805249210678411,
41
+ 0.08762804097311136
42
+ ],
43
+ "std": [
44
+ 0.1364878357112203,
45
+ 0.06521976306006763,
46
+ 0.05895699006536035,
47
+ 1.6648833415711914,
48
+ 2.2236785714685396,
49
+ 0.13710193958271333,
50
+ 0.011328591949326798,
51
+ 0.011394605880609308,
52
+ 0.13924010834100095,
53
+ 0.06349817660760358,
54
+ 0.06014770884144378,
55
+ 1.694195263111645,
56
+ 2.3261636263757737,
57
+ 0.14145846058575146,
58
+ 0.9961632294015995
59
+ ]
60
+ },
61
+ "action": {
62
+ "mean": [
63
+ 0.0014429540247476425,
64
+ 5.855477872899049e-05,
65
+ 0.00010094234202338543,
66
+ -5.514898634610806e-05,
67
+ -1.1709633593695834e-05,
68
+ 0.0023358867284308323,
69
+ 0.08610835467349552
70
+ ],
71
+ "std": [
72
+ 0.0033159534044946504,
73
+ 0.0020661345832887618,
74
+ 0.003004563348536115,
75
+ 0.012571091883774563,
76
+ 0.012866583562733206,
77
+ 0.026665803880115392,
78
+ 0.9962859772258239
79
+ ]
80
+ }
81
+ },
82
+ "action_dim": 7,
83
+ "chunk_size": 50,
84
+ "max_state_dim": 32,
85
+ "max_action_dim": 32,
86
+ "num_inference_steps": 10,
87
+ "time_sampling_beta_alpha": 1.5,
88
+ "time_sampling_beta_beta": 1.0,
89
+ "time_sampling_scale": 0.999,
90
+ "time_sampling_offset": 0.001,
91
+ "min_period": 0.004,
92
+ "max_period": 4.0,
93
+ "rtc_config": null,
94
+ "image_resolution": [
95
+ 224,
96
+ 224
97
+ ],
98
+ "gradient_checkpointing": true,
99
+ "compile_model": true,
100
+ "compile_mode": "max-autotune",
101
+ "freeze_vision_encoder": false,
102
+ "train_expert_only": false,
103
+ "optimizer_lr": 2.5e-05,
104
+ "optimizer_betas": [
105
+ 0.9,
106
+ 0.95
107
+ ],
108
+ "optimizer_eps": 1e-08,
109
+ "optimizer_weight_decay": 0.01,
110
+ "optimizer_grad_clip_norm": 1.0,
111
+ "scheduler_warmup_steps": 1000,
112
+ "scheduler_decay_steps": 30000,
113
+ "scheduler_decay_lr": 2.5e-06,
114
+ "tokenizer_max_length": 48
115
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7301d63592d2ef1c6d5fd27daa1f697e633012e540181a3d612dd0e9eb9ae7ea
3
+ size 8892502944
training_config.yaml ADDED
@@ -0,0 +1,129 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ dataloader:
2
+ batch_size: 32
3
+ implementation: robosuite_v1
4
+ num_workers: 4
5
+ pin_memory: true
6
+ shuffle: true
7
+ stats_calculation_samples: 50000
8
+ task_override: Place the round nut on the round peg.
9
+ dataset:
10
+ repo_id: robotgeneralist/rs-demos-assembly
11
+ root: null
12
+ eval:
13
+ actions_per_chunk: 10
14
+ base_seed: 0
15
+ env_name: NutAssemblyRound
16
+ eval_every: 500
17
+ fps: 20
18
+ max_steps: 400
19
+ num_rollouts: 8
20
+ task: Place the round nut on the round peg.
21
+ policy:
22
+ action_derivation_implementation: ext__delta__osc__rotvec
23
+ action_dim: 7
24
+ action_expert_variant: gemma_300m
25
+ chunk_size: 50
26
+ compile_mode: max-autotune
27
+ compile_model: true
28
+ device: cuda
29
+ dtype: bfloat16
30
+ freeze_vision_encoder: false
31
+ gradient_checkpointing: true
32
+ image_keys:
33
+ - robot0_robotview_image
34
+ - robot0_eye_in_hand_image
35
+ image_resolution:
36
+ - 224
37
+ - 224
38
+ input_features: {}
39
+ license: null
40
+ max_action_dim: 32
41
+ max_period: 4.0
42
+ max_state_dim: 32
43
+ min_period: 0.004
44
+ n_obs_steps: 1
45
+ normalization_stats:
46
+ action:
47
+ mean:
48
+ - 0.0014429540247476425
49
+ - 5.855477872899049e-05
50
+ - 0.00010094234202338543
51
+ - -5.514898634610806e-05
52
+ - -1.1709633593695834e-05
53
+ - 0.0023358867284308323
54
+ - 0.08610835467349552
55
+ std:
56
+ - 0.0033159534044946504
57
+ - 0.0020661345832887618
58
+ - 0.003004563348536115
59
+ - 0.012571091883774563
60
+ - 0.012866583562733206
61
+ - 0.026665803880115392
62
+ - 0.9962859772258239
63
+ observation.state:
64
+ mean:
65
+ - 0.011385115435902654
66
+ - -0.11066487852350426
67
+ - 0.9275649457826504
68
+ - 0.7494435731164166
69
+ - 1.069831168567631
70
+ - 0.06506713687963374
71
+ - 0.025805657331220012
72
+ - -0.02590401388618914
73
+ - 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
+ - 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
+ seed: 1000
129
+ steps: 10000