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late_3am_act

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r3m3c3 commited on
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9b05e3e
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1 Parent(s): e9d1c80

add pretrained model

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Files changed (3) hide show
  1. checkpoints/020000/pretrained_model/config.json +64 -0
  2. checkpoints/020000/pretrained_model/model.safetensors +3 -0
  3. checkpoints/020000/pretrained_model/train_config.json +170 -0
checkpoints/020000/pretrained_model/config.json ADDED
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+ {
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+ "type": "act",
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+ "n_obs_steps": 1,
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+ "normalization_mapping": {
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+ "STATE": "MEAN_STD",
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+ "ACTION": "MEAN_STD"
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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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+ "observation.images.realsense": {
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+ "type": "VISUAL",
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+ "output_features": {
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+ "action": {
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+ "shape": [
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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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+ "chunk_size": 100,
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+ "n_action_steps": 100,
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+ "vision_backbone": "resnet18",
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+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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+ "replace_final_stride_with_dilation": false,
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+ "pre_norm": false,
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+ "dim_model": 512,
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+ "n_heads": 8,
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+ "dim_feedforward": 3200,
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+ "feedforward_activation": "relu",
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+ "n_encoder_layers": 4,
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+ "n_decoder_layers": 1,
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+ "use_vae": true,
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+ "latent_dim": 32,
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+ "n_vae_encoder_layers": 4,
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+ "temporal_ensemble_coeff": null,
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+ "dropout": 0.1,
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+ "kl_weight": 10.0,
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+ "optimizer_lr": 1e-05,
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+ "optimizer_weight_decay": 0.0001,
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+ "optimizer_lr_backbone": 1e-05
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+ }
checkpoints/020000/pretrained_model/model.safetensors ADDED
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checkpoints/020000/pretrained_model/train_config.json ADDED
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+ {
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+ "dataset": {
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+ "repo_id": "AndrejOrsula/so100_stack_ball_3am",
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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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+ "saturation": {
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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": "act",
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+ "normalization_mapping": {
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+ "STATE": "MEAN_STD",
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+ "ACTION": "MEAN_STD"
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+ },
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+ "output_features": {
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+ "device": "cuda",
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+ "use_amp": false,
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+ "chunk_size": 100,
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+ "n_action_steps": 100,
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+ "vision_backbone": "resnet18",
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+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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+ "replace_final_stride_with_dilation": false,
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+ "dim_feedforward": 3200,
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+ "feedforward_activation": "relu",
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+ "n_decoder_layers": 1,
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+ "use_vae": true,
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+ "latent_dim": 32,
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+ "n_vae_encoder_layers": 4,
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+ "dropout": 0.1,
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+ "kl_weight": 10.0,
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+ "optimizer_lr": 1e-05,
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+ "optimizer_weight_decay": 0.0001,
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+ "optimizer_lr_backbone": 1e-05
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+ },
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+ "output_dir": "outputs/train/run_3am",
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+ "job_name": "phosphobot_test",
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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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+ "save_checkpoint": true,
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+ "use_policy_training_preset": true,
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+ "optimizer": {
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+ "lr": 1e-05,
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+ "eps": 1e-08
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+ "n_episodes": 50,
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+ "wandb": {
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+ "enable": true,
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+ "project": "lerobot",
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+ "entity": null,
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+ "run_id": null,
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+ "mode": null
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+ }
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+ }