Upload folder using huggingface_hub
Browse files- config.json +84 -0
- model.safetensors +3 -0
- train_config.json +194 -0
config.json
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{
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"type": "diffusion",
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"n_obs_steps": 2,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MIN_MAX",
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"ACTION": "MIN_MAX"
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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.top": {
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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.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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},
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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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"horizon": 16,
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"n_action_steps": 8,
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"drop_n_last_frames": 7,
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"vision_backbone": "resnet18",
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"crop_shape": [
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84,
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84
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],
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"crop_is_random": true,
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"pretrained_backbone_weights": null,
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"use_group_norm": true,
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"spatial_softmax_num_keypoints": 32,
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"use_separate_rgb_encoder_per_camera": false,
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"down_dims": [
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512,
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1024,
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2048
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],
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"kernel_size": 5,
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"n_groups": 8,
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"diffusion_step_embed_dim": 128,
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"use_film_scale_modulation": true,
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"noise_scheduler_type": "DDPM",
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"num_train_timesteps": 100,
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"beta_schedule": "squaredcos_cap_v2",
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"beta_start": 0.0001,
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"beta_end": 0.02,
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"prediction_type": "epsilon",
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"clip_sample": true,
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"clip_sample_range": 1.0,
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"num_inference_steps": null,
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"do_mask_loss_for_padding": false,
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"optimizer_lr": 0.0001,
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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_weight_decay": 1e-06,
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"scheduler_name": "cosine",
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"scheduler_warmup_steps": 500
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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:b4b574e279dab232a386908338f48b20fbd53ca9b994bd7a74490553a52dadf6
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size 1066517736
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train_config.json
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{
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"dataset": {
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"repo_id": "danaaubakirova/svla_so100_task5_v3",
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"root": null,
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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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]
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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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]
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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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"kwargs": {
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"saturation": [
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0.5,
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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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"type": "ColorJitter",
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"kwargs": {
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"hue": [
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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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"weight": 1.0,
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"type": "SharpnessJitter",
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"kwargs": {
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"sharpness": [
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}
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}
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}
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},
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"revision": null,
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"use_imagenet_stats": true,
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"video_backend": "torchcodec"
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},
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"env": null,
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"policy": {
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"type": "diffusion",
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"n_obs_steps": 2,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MIN_MAX",
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"ACTION": "MIN_MAX"
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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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]
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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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},
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"observation.images.wrist": {
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"type": "VISUAL",
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"shape": [
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640
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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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}
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},
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"device": "cuda",
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"use_amp": false,
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"horizon": 16,
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"vision_backbone": "resnet18",
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"num_train_timesteps": 100,
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"beta_schedule": "squaredcos_cap_v2",
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 1e-06,
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"scheduler_name": "cosine",
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"scheduler_warmup_steps": 500
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},
|
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"output_dir": "/lustre/fswork/projects/rech/dyf/ugz83ue/logs/lerobot/lerobot_so100_v3_task_5_diffusion_main_default",
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"job_name": "diffusion",
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"resume": false,
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"seed": 1000,
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"num_workers": 4,
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"batch_size": 8,
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"steps": 100000,
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"eval_freq": 20000,
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"log_freq": 200,
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"save_checkpoint": true,
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"save_freq": 20000,
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"use_policy_training_preset": true,
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"optimizer": {
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"type": "adam",
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"lr": 0.0001,
|
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"weight_decay": 1e-06,
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"grad_clip_norm": 10.0,
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"betas": [
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],
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"eps": 1e-08
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},
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"scheduler": {
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"type": "diffuser",
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|
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"name": "cosine"
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},
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"eval": {
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},
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"wandb": {
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"enable": false,
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"disable_artifact": false,
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"project": "lerobot",
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"entity": null,
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"notes": null,
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"run_id": null,
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"mode": null
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}
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}
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