Upload folder using huggingface_hub
Browse files- README.md +12 -0
- config.json +74 -0
- model.safetensors +3 -0
- train_config.json +236 -0
README.md
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@@ -0,0 +1,12 @@
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---
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library_name: lerobot
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tags:
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- diffusion-policy
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- model_hub_mixin
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- pytorch_model_hub_mixin
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- robotics
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---
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This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
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- Library: https://github.com/huggingface/lerobot
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- Docs: [More Information Needed]
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config.json
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{
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"beta_end": 0.02,
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"beta_schedule": "squaredcos_cap_v2",
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"beta_start": 0.0001,
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"clip_sample": true,
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"clip_sample_range": 1.0,
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"crop_is_random": true,
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"crop_shape": [
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84,
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84
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],
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"diffusion_step_embed_dim": 32,
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"do_mask_loss_for_padding": false,
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"down_dims": [
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64,
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128,
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256
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],
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"drop_n_last_frames": 7,
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"horizon": 16,
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"input_features": {
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"observation.image": {
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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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"type": "VISUAL"
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},
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"observation.state": {
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"shape": [
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2
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],
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"type": "STATE"
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}
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},
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"kernel_size": 5,
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"n_action_steps": 8,
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"n_groups": 8,
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"n_obs_steps": 2,
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"noise_scheduler_type": "DDPM",
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"normalization_mapping": {
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"ACTION": "MIN_MAX",
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"STATE": "MIN_MAX",
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"VISUAL": "MEAN_STD"
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},
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"num_inference_steps": 10,
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"num_train_timesteps": 100,
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"optimizer_betas": [
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0.95,
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0.999
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],
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"optimizer_eps": 1e-08,
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"optimizer_lr": 0.0001,
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"optimizer_weight_decay": 1e-06,
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"output_features": {
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"action": {
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"shape": [
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2
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],
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"type": "ACTION"
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}
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},
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"prediction_type": "epsilon",
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"pretrained_backbone_weights": null,
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"scheduler_name": "cosine",
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"scheduler_warmup_steps": 500,
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"spatial_softmax_num_keypoints": 32,
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"type": "diffusion",
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"use_film_scale_modulation": true,
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"use_group_norm": true,
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"use_separate_rgb_encoder_per_camera": false,
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"vision_backbone": "resnet18"
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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 sha256:3dcf5ed4f84a62c2b88aba90e754e8582b8c2a825a02b39b96b9a4801cfc07c5
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size 62501608
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train_config.json
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{
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| 2 |
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"dataset": {
|
| 3 |
+
"repo_id": "lerobot/pusht",
|
| 4 |
+
"episodes": [
|
| 5 |
+
0
|
| 6 |
+
],
|
| 7 |
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"image_transforms": {
|
| 8 |
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"enable": true,
|
| 9 |
+
"max_num_transforms": 3,
|
| 10 |
+
"random_order": false,
|
| 11 |
+
"tfs": {
|
| 12 |
+
"brightness": {
|
| 13 |
+
"weight": 1.0,
|
| 14 |
+
"type": "ColorJitter",
|
| 15 |
+
"kwargs": {
|
| 16 |
+
"brightness": [
|
| 17 |
+
0.8,
|
| 18 |
+
1.2
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
+
"contrast": {
|
| 23 |
+
"weight": 1.0,
|
| 24 |
+
"type": "ColorJitter",
|
| 25 |
+
"kwargs": {
|
| 26 |
+
"contrast": [
|
| 27 |
+
0.8,
|
| 28 |
+
1.2
|
| 29 |
+
]
|
| 30 |
+
}
|
| 31 |
+
},
|
| 32 |
+
"saturation": {
|
| 33 |
+
"weight": 1.0,
|
| 34 |
+
"type": "ColorJitter",
|
| 35 |
+
"kwargs": {
|
| 36 |
+
"saturation": [
|
| 37 |
+
0.5,
|
| 38 |
+
1.5
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"hue": {
|
| 43 |
+
"weight": 1.0,
|
| 44 |
+
"type": "ColorJitter",
|
| 45 |
+
"kwargs": {
|
| 46 |
+
"hue": [
|
| 47 |
+
-0.05,
|
| 48 |
+
0.05
|
| 49 |
+
]
|
| 50 |
+
}
|
| 51 |
+
},
|
| 52 |
+
"sharpness": {
|
| 53 |
+
"weight": 1.0,
|
| 54 |
+
"type": "SharpnessJitter",
|
| 55 |
+
"kwargs": {
|
| 56 |
+
"sharpness": [
|
| 57 |
+
0.5,
|
| 58 |
+
1.5
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
}
|
| 62 |
+
}
|
| 63 |
+
},
|
| 64 |
+
"local_files_only": false,
|
| 65 |
+
"use_imagenet_stats": true,
|
| 66 |
+
"video_backend": "pyav"
|
| 67 |
+
},
|
| 68 |
+
"env": {
|
| 69 |
+
"type": "pusht",
|
| 70 |
+
"n_envs": null,
|
| 71 |
+
"task": "PushT-v0",
|
| 72 |
+
"fps": 10,
|
| 73 |
+
"features": {
|
| 74 |
+
"action": {
|
| 75 |
+
"type": "ACTION",
|
| 76 |
+
"shape": [
|
| 77 |
+
2
|
| 78 |
+
]
|
| 79 |
+
},
|
| 80 |
+
"agent_pos": {
|
| 81 |
+
"type": "STATE",
|
| 82 |
+
"shape": [
|
| 83 |
+
2
|
| 84 |
+
]
|
| 85 |
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},
|
| 86 |
+
"pixels": {
|
| 87 |
+
"type": "VISUAL",
|
| 88 |
+
"shape": [
|
| 89 |
+
384,
|
| 90 |
+
384,
|
| 91 |
+
3
|
| 92 |
+
]
|
| 93 |
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}
|
| 94 |
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},
|
| 95 |
+
"features_map": {
|
| 96 |
+
"action": "action",
|
| 97 |
+
"agent_pos": "observation.state",
|
| 98 |
+
"environment_state": "observation.environment_state",
|
| 99 |
+
"pixels": "observation.image"
|
| 100 |
+
},
|
| 101 |
+
"episode_length": 5,
|
| 102 |
+
"obs_type": "pixels_agent_pos",
|
| 103 |
+
"render_mode": "rgb_array",
|
| 104 |
+
"visualization_width": 384,
|
| 105 |
+
"visualization_height": 384
|
| 106 |
+
},
|
| 107 |
+
"policy": {
|
| 108 |
+
"type": "diffusion",
|
| 109 |
+
"n_obs_steps": 2,
|
| 110 |
+
"normalization_mapping": {
|
| 111 |
+
"VISUAL": "MEAN_STD",
|
| 112 |
+
"STATE": "MIN_MAX",
|
| 113 |
+
"ACTION": "MIN_MAX"
|
| 114 |
+
},
|
| 115 |
+
"input_features": {
|
| 116 |
+
"observation.image": {
|
| 117 |
+
"type": "VISUAL",
|
| 118 |
+
"shape": [
|
| 119 |
+
3,
|
| 120 |
+
96,
|
| 121 |
+
96
|
| 122 |
+
]
|
| 123 |
+
},
|
| 124 |
+
"observation.state": {
|
| 125 |
+
"type": "STATE",
|
| 126 |
+
"shape": [
|
| 127 |
+
2
|
| 128 |
+
]
|
| 129 |
+
}
|
| 130 |
+
},
|
| 131 |
+
"output_features": {
|
| 132 |
+
"action": {
|
| 133 |
+
"type": "ACTION",
|
| 134 |
+
"shape": [
|
| 135 |
+
2
|
| 136 |
+
]
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"horizon": 16,
|
| 140 |
+
"n_action_steps": 8,
|
| 141 |
+
"drop_n_last_frames": 7,
|
| 142 |
+
"vision_backbone": "resnet18",
|
| 143 |
+
"crop_shape": [
|
| 144 |
+
84,
|
| 145 |
+
84
|
| 146 |
+
],
|
| 147 |
+
"crop_is_random": true,
|
| 148 |
+
"pretrained_backbone_weights": null,
|
| 149 |
+
"use_group_norm": true,
|
| 150 |
+
"spatial_softmax_num_keypoints": 32,
|
| 151 |
+
"use_separate_rgb_encoder_per_camera": false,
|
| 152 |
+
"down_dims": [
|
| 153 |
+
64,
|
| 154 |
+
128,
|
| 155 |
+
256
|
| 156 |
+
],
|
| 157 |
+
"kernel_size": 5,
|
| 158 |
+
"n_groups": 8,
|
| 159 |
+
"diffusion_step_embed_dim": 32,
|
| 160 |
+
"use_film_scale_modulation": true,
|
| 161 |
+
"noise_scheduler_type": "DDPM",
|
| 162 |
+
"num_train_timesteps": 100,
|
| 163 |
+
"beta_schedule": "squaredcos_cap_v2",
|
| 164 |
+
"beta_start": 0.0001,
|
| 165 |
+
"beta_end": 0.02,
|
| 166 |
+
"prediction_type": "epsilon",
|
| 167 |
+
"clip_sample": true,
|
| 168 |
+
"clip_sample_range": 1.0,
|
| 169 |
+
"num_inference_steps": 10,
|
| 170 |
+
"do_mask_loss_for_padding": false,
|
| 171 |
+
"optimizer_lr": 0.0001,
|
| 172 |
+
"optimizer_betas": [
|
| 173 |
+
0.95,
|
| 174 |
+
0.999
|
| 175 |
+
],
|
| 176 |
+
"optimizer_eps": 1e-08,
|
| 177 |
+
"optimizer_weight_decay": 1e-06,
|
| 178 |
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