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README.md +5 -1
config.json +28 -26
model.safetensors +3 -0
train_config.json +167 -0

README.md CHANGED Viewed

@@ -1,8 +1,12 @@
 ---
 tags:
 - model_hub_mixin
 ---
 This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
-- Library: [More Information Needed]
 - Docs: [More Information Needed]

 ---
+library_name: lerobot
 tags:
+- act
 - model_hub_mixin
+- pytorch_model_hub_mixin
+- robotics
 ---
 This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
+- Library: https://github.com/huggingface/lerobot
 - Docs: [More Information Needed]

config.json CHANGED Viewed

@@ -1,28 +1,30 @@
 {
-    "type": "act",
-    "n_obs_steps": 1,
-    "normalization_mapping": {
-        "ACTION": "MEAN_STD",
-        "STATE": "MEAN_STD",
-        "VISUAL": "MEAN_STD"
-    },
-    "chunk_size": 20,
-    "n_action_steps": 20,
-    "vision_backbone": "resnet18",
-    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "replace_final_stride_with_dilation": 0,
-    "pre_norm": false,
-    "dim_model": 64,
-    "n_heads": 8,
-    "dim_feedforward": 3200,
-    "feedforward_activation": "relu",
-    "n_encoder_layers": 4,
-    "n_decoder_layers": 1,
-    "use_vae": true,
-    "latent_dim": 32,
-    "n_vae_encoder_layers": 4,
-    "temporal_ensemble_coeff": null,
-    "dropout": 0.1,
-    "kl_weight": 10.0,
-    "optimizer_lr_backbone": 1e-05
 }

 {
+  "chunk_size": 100,
+  "dim_feedforward": 3200,
+  "dim_model": 512,
+  "dropout": 0.1,
+  "feedforward_activation": "relu",
+  "kl_weight": 10.0,
+  "latent_dim": 32,
+  "n_action_steps": 100,
+  "n_decoder_layers": 1,
+  "n_encoder_layers": 4,
+  "n_heads": 8,
+  "n_obs_steps": 1,
+  "n_vae_encoder_layers": 4,
+  "normalization_mapping": {
+    "ACTION": "MEAN_STD",
+    "STATE": "MEAN_STD",
+    "VISUAL": "MEAN_STD"
+  },
+  "optimizer_lr": 1e-05,
+  "optimizer_lr_backbone": 1e-05,
+  "optimizer_weight_decay": 0.0001,
+  "pre_norm": false,
+  "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+  "replace_final_stride_with_dilation": false,
+  "temporal_ensemble_coeff": null,
+  "type": "act",
+  "use_vae": true,
+  "vision_backbone": "resnet18"
 }

model.safetensors ADDED Viewed

	@@ -0,0 +1,3 @@

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+oid sha256:81db69111d49e02f0adec79c9217d76c9b3e1d3df11574b76c33790aea07b18c
+size 206766560

train_config.json ADDED Viewed

	@@ -0,0 +1,167 @@

+{
+    "dataset": {
+        "repo_id": "lerobot/aloha_sim_transfer_cube_human",
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                }
+            }
+        },
+        "local_files_only": false,
+        "use_imagenet_stats": true,
+        "video_backend": "pyav"
+    },
+    "env": {
+        "type": "aloha",
+        "n_envs": null,
+        "task": "AlohaTransferCube-v0",
+        "fps": 50,
+        "feature_types": {
+            "agent_pos": "STATE",
+            "pixels": {
+                "top": "VISUAL"
+            },
+            "action": "ACTION"
+        },
+        "episode_length": 400,
+        "obs_type": "pixels_agent_pos",
+        "render_mode": "rgb_array"
+    },
+    "policy": {
+        "type": "act",
+        "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "chunk_size": 100,
+        "n_action_steps": 100,
+        "vision_backbone": "resnet18",
+        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+        "replace_final_stride_with_dilation": false,
+        "pre_norm": false,
+        "dim_model": 512,
+        "n_heads": 8,
+        "dim_feedforward": 3200,
+        "feedforward_activation": "relu",
+        "n_encoder_layers": 4,
+        "n_decoder_layers": 1,
+        "use_vae": true,
+        "latent_dim": 32,
+        "n_vae_encoder_layers": 4,
+        "temporal_ensemble_coeff": null,
+        "dropout": 0.1,
+        "kl_weight": 10.0,
+        "optimizer_lr": 1e-05,
+        "optimizer_weight_decay": 0.0001,
+        "optimizer_lr_backbone": 1e-05
+    },
+    "output_dir": "outputs/train/act_aloha_sim_transfer_cube_human",
+    "job_name": "aloha_act",
+    "resume": false,
+    "device": "mps",
+    "use_amp": false,
+    "seed": 1000,
+    "num_workers": 4,
+    "batch_size": 8,
+    "eval_freq": 10,
+    "log_freq": 1,
+    "save_checkpoint": true,
+    "save_freq": 5,
+    "offline": {
+        "steps": 10
+    },
+    "online": {
+        "steps": 0,
+        "rollout_n_episodes": 1,
+        "rollout_batch_size": 1,
+        "steps_between_rollouts": null,
+        "sampling_ratio": 0.5,
+        "env_seed": null,
+        "buffer_capacity": null,
+        "buffer_seed_size": 0,
+        "do_rollout_async": false
+    },
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 1e-05,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 0.0001,
+        "grad_clip_norm": 10.0
+    },
+    "scheduler": {
+        "type": "none",
+        "num_warmup_steps": 0
+    },
+    "eval": {
+        "n_episodes": 1,
+        "episode_length": null,
+        "batch_size": 1,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null
+    }
+}