Robert Evans commited on
Commit
7be8547
·
verified ·
1 Parent(s): 5f04331

Upload folder using huggingface_hub

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. .gitattributes +1 -0
  2. checkpoints/010000/pretrained_model/config.json +71 -0
  3. checkpoints/010000/pretrained_model/model.safetensors +3 -0
  4. checkpoints/010000/pretrained_model/policy_postprocessor.json +32 -0
  5. checkpoints/010000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  6. checkpoints/010000/pretrained_model/policy_preprocessor.json +64 -0
  7. checkpoints/010000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  8. checkpoints/010000/pretrained_model/train_config.json +203 -0
  9. checkpoints/010000/training_state/optimizer_param_groups.json +191 -0
  10. checkpoints/010000/training_state/optimizer_state.safetensors +3 -0
  11. checkpoints/010000/training_state/rng_state.safetensors +3 -0
  12. checkpoints/010000/training_state/training_step.json +3 -0
  13. checkpoints/020000/pretrained_model/config.json +71 -0
  14. checkpoints/020000/pretrained_model/model.safetensors +3 -0
  15. checkpoints/020000/pretrained_model/policy_postprocessor.json +32 -0
  16. checkpoints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  17. checkpoints/020000/pretrained_model/policy_preprocessor.json +64 -0
  18. checkpoints/020000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  19. checkpoints/020000/pretrained_model/train_config.json +203 -0
  20. checkpoints/020000/training_state/optimizer_param_groups.json +191 -0
  21. checkpoints/020000/training_state/optimizer_state.safetensors +3 -0
  22. checkpoints/020000/training_state/rng_state.safetensors +3 -0
  23. checkpoints/020000/training_state/training_step.json +3 -0
  24. checkpoints/030000/pretrained_model/config.json +71 -0
  25. checkpoints/030000/pretrained_model/model.safetensors +3 -0
  26. checkpoints/030000/pretrained_model/policy_postprocessor.json +32 -0
  27. checkpoints/030000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  28. checkpoints/030000/pretrained_model/policy_preprocessor.json +64 -0
  29. checkpoints/030000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  30. checkpoints/030000/pretrained_model/train_config.json +203 -0
  31. checkpoints/030000/training_state/optimizer_param_groups.json +191 -0
  32. checkpoints/030000/training_state/optimizer_state.safetensors +3 -0
  33. checkpoints/030000/training_state/rng_state.safetensors +3 -0
  34. checkpoints/030000/training_state/training_step.json +3 -0
  35. checkpoints/040000/pretrained_model/config.json +71 -0
  36. checkpoints/040000/pretrained_model/model.safetensors +3 -0
  37. checkpoints/040000/pretrained_model/policy_postprocessor.json +32 -0
  38. checkpoints/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  39. checkpoints/040000/pretrained_model/policy_preprocessor.json +64 -0
  40. checkpoints/040000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  41. checkpoints/040000/pretrained_model/train_config.json +203 -0
  42. checkpoints/040000/training_state/optimizer_param_groups.json +191 -0
  43. checkpoints/040000/training_state/optimizer_state.safetensors +3 -0
  44. checkpoints/040000/training_state/rng_state.safetensors +3 -0
  45. checkpoints/040000/training_state/training_step.json +3 -0
  46. checkpoints/050000/pretrained_model/config.json +71 -0
  47. checkpoints/050000/pretrained_model/model.safetensors +3 -0
  48. checkpoints/050000/pretrained_model/policy_postprocessor.json +32 -0
  49. checkpoints/050000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  50. checkpoints/050000/pretrained_model/policy_preprocessor.json +64 -0
.gitattributes CHANGED
@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
33
  *.zip filter=lfs diff=lfs merge=lfs -text
34
  *.zst filter=lfs diff=lfs merge=lfs -text
35
  *tfevents* filter=lfs diff=lfs merge=lfs -text
 
 
33
  *.zip filter=lfs diff=lfs merge=lfs -text
34
  *.zst filter=lfs diff=lfs merge=lfs -text
35
  *tfevents* filter=lfs diff=lfs merge=lfs -text
36
+ wandb/run-20260324_124657-6aynabke/run-6aynabke.wandb filter=lfs diff=lfs merge=lfs -text
checkpoints/010000/pretrained_model/config.json ADDED
@@ -0,0 +1,71 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 6
9
+ ]
10
+ },
11
+ "observation.images.front": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ },
19
+ "observation.images.side": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 480,
24
+ 640
25
+ ]
26
+ }
27
+ },
28
+ "output_features": {
29
+ "action": {
30
+ "type": "ACTION",
31
+ "shape": [
32
+ 6
33
+ ]
34
+ }
35
+ },
36
+ "device": "cuda",
37
+ "use_amp": false,
38
+ "use_peft": false,
39
+ "push_to_hub": true,
40
+ "repo_id": "TheReverand/wiretaskbinpick-so101-policy",
41
+ "private": null,
42
+ "tags": null,
43
+ "license": null,
44
+ "pretrained_path": null,
45
+ "chunk_size": 100,
46
+ "n_action_steps": 100,
47
+ "normalization_mapping": {
48
+ "VISUAL": "MEAN_STD",
49
+ "STATE": "MEAN_STD",
50
+ "ACTION": "MEAN_STD"
51
+ },
52
+ "vision_backbone": "resnet18",
53
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
54
+ "replace_final_stride_with_dilation": false,
55
+ "pre_norm": false,
56
+ "dim_model": 512,
57
+ "n_heads": 8,
58
+ "dim_feedforward": 3200,
59
+ "feedforward_activation": "relu",
60
+ "n_encoder_layers": 4,
61
+ "n_decoder_layers": 1,
62
+ "use_vae": true,
63
+ "latent_dim": 32,
64
+ "n_vae_encoder_layers": 4,
65
+ "temporal_ensemble_coeff": null,
66
+ "dropout": 0.1,
67
+ "kl_weight": 10.0,
68
+ "optimizer_lr": 1e-05,
69
+ "optimizer_weight_decay": 0.0001,
70
+ "optimizer_lr_backbone": 1e-05
71
+ }
checkpoints/010000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dcfefd11e1f445c6935af0612e59e2b6b7617cf0a9f0ee4c113e0bb7db66ad1a
3
+ size 206699736
checkpoints/010000/pretrained_model/policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 6
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MEAN_STD",
19
+ "ACTION": "MEAN_STD"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
checkpoints/010000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:89c7752a839e7810abc2f91ea465abac5d8201f6a65fc82c5e66dcb0ca5622f2
3
+ size 7544
checkpoints/010000/pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.state": {
27
+ "type": "STATE",
28
+ "shape": [
29
+ 6
30
+ ]
31
+ },
32
+ "observation.images.front": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 480,
37
+ 640
38
+ ]
39
+ },
40
+ "observation.images.side": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 480,
45
+ 640
46
+ ]
47
+ },
48
+ "action": {
49
+ "type": "ACTION",
50
+ "shape": [
51
+ 6
52
+ ]
53
+ }
54
+ },
55
+ "norm_map": {
56
+ "VISUAL": "MEAN_STD",
57
+ "STATE": "MEAN_STD",
58
+ "ACTION": "MEAN_STD"
59
+ }
60
+ },
61
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
62
+ }
63
+ ]
64
+ }
checkpoints/010000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:89c7752a839e7810abc2f91ea465abac5d8201f6a65fc82c5e66dcb0ca5622f2
3
+ size 7544
checkpoints/010000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,203 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "TheReverand/wiretask2",
4
+ "root": null,
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ },
61
+ "affine": {
62
+ "weight": 1.0,
63
+ "type": "RandomAffine",
64
+ "kwargs": {
65
+ "degrees": [
66
+ -5.0,
67
+ 5.0
68
+ ],
69
+ "translate": [
70
+ 0.05,
71
+ 0.05
72
+ ]
73
+ }
74
+ }
75
+ }
76
+ },
77
+ "revision": null,
78
+ "use_imagenet_stats": true,
79
+ "video_backend": "torchcodec",
80
+ "streaming": false
81
+ },
82
+ "env": null,
83
+ "policy": {
84
+ "type": "act",
85
+ "n_obs_steps": 1,
86
+ "input_features": {
87
+ "observation.state": {
88
+ "type": "STATE",
89
+ "shape": [
90
+ 6
91
+ ]
92
+ },
93
+ "observation.images.front": {
94
+ "type": "VISUAL",
95
+ "shape": [
96
+ 3,
97
+ 480,
98
+ 640
99
+ ]
100
+ },
101
+ "observation.images.side": {
102
+ "type": "VISUAL",
103
+ "shape": [
104
+ 3,
105
+ 480,
106
+ 640
107
+ ]
108
+ }
109
+ },
110
+ "output_features": {
111
+ "action": {
112
+ "type": "ACTION",
113
+ "shape": [
114
+ 6
115
+ ]
116
+ }
117
+ },
118
+ "device": "cuda",
119
+ "use_amp": false,
120
+ "use_peft": false,
121
+ "push_to_hub": true,
122
+ "repo_id": "TheReverand/wiretaskbinpick-so101-policy",
123
+ "private": null,
124
+ "tags": null,
125
+ "license": null,
126
+ "pretrained_path": null,
127
+ "chunk_size": 100,
128
+ "n_action_steps": 100,
129
+ "normalization_mapping": {
130
+ "VISUAL": "MEAN_STD",
131
+ "STATE": "MEAN_STD",
132
+ "ACTION": "MEAN_STD"
133
+ },
134
+ "vision_backbone": "resnet18",
135
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
136
+ "replace_final_stride_with_dilation": false,
137
+ "pre_norm": false,
138
+ "dim_model": 512,
139
+ "n_heads": 8,
140
+ "dim_feedforward": 3200,
141
+ "feedforward_activation": "relu",
142
+ "n_encoder_layers": 4,
143
+ "n_decoder_layers": 1,
144
+ "use_vae": true,
145
+ "latent_dim": 32,
146
+ "n_vae_encoder_layers": 4,
147
+ "temporal_ensemble_coeff": null,
148
+ "dropout": 0.1,
149
+ "kl_weight": 10.0,
150
+ "optimizer_lr": 1e-05,
151
+ "optimizer_weight_decay": 0.0001,
152
+ "optimizer_lr_backbone": 1e-05
153
+ },
154
+ "output_dir": "outputs/train/wiretask2_so101",
155
+ "job_name": "wiretask2_so101_run",
156
+ "resume": false,
157
+ "seed": 1000,
158
+ "cudnn_deterministic": false,
159
+ "num_workers": 4,
160
+ "batch_size": 8,
161
+ "steps": 100000,
162
+ "eval_freq": 20000,
163
+ "log_freq": 200,
164
+ "tolerance_s": 0.0001,
165
+ "save_checkpoint": true,
166
+ "save_freq": 10000,
167
+ "use_policy_training_preset": true,
168
+ "optimizer": {
169
+ "type": "adamw",
170
+ "lr": 1e-05,
171
+ "weight_decay": 0.0001,
172
+ "grad_clip_norm": 10.0,
173
+ "betas": [
174
+ 0.9,
175
+ 0.999
176
+ ],
177
+ "eps": 1e-08
178
+ },
179
+ "scheduler": null,
180
+ "eval": {
181
+ "n_episodes": 50,
182
+ "batch_size": 50,
183
+ "use_async_envs": false
184
+ },
185
+ "wandb": {
186
+ "enable": true,
187
+ "disable_artifact": false,
188
+ "project": "act-robotics-study",
189
+ "entity": null,
190
+ "notes": null,
191
+ "run_id": "6aynabke",
192
+ "mode": null,
193
+ "add_tags": true
194
+ },
195
+ "peft": null,
196
+ "use_rabc": false,
197
+ "rabc_progress_path": null,
198
+ "rabc_kappa": 0.01,
199
+ "rabc_epsilon": 1e-06,
200
+ "rabc_head_mode": "sparse",
201
+ "rename_map": {},
202
+ "checkpoint_path": null
203
+ }
checkpoints/010000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "lr": 1e-05,
4
+ "betas": [
5
+ 0.9,
6
+ 0.999
7
+ ],
8
+ "eps": 1e-08,
9
+ "weight_decay": 0.0001,
10
+ "amsgrad": false,
11
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": true,
17
+ "params": [
18
+ 0,
19
+ 1,
20
+ 2,
21
+ 3,
22
+ 4,
23
+ 5,
24
+ 6,
25
+ 7,
26
+ 8,
27
+ 9,
28
+ 10,
29
+ 11,
30
+ 12,
31
+ 13,
32
+ 14,
33
+ 15,
34
+ 16,
35
+ 17,
36
+ 18,
37
+ 19,
38
+ 20,
39
+ 21,
40
+ 22,
41
+ 23,
42
+ 24,
43
+ 25,
44
+ 26,
45
+ 27,
46
+ 28,
47
+ 29,
48
+ 30,
49
+ 31,
50
+ 32,
51
+ 33,
52
+ 34,
53
+ 35,
54
+ 36,
55
+ 37,
56
+ 38,
57
+ 39,
58
+ 40,
59
+ 41,
60
+ 42,
61
+ 43,
62
+ 44,
63
+ 45,
64
+ 46,
65
+ 47,
66
+ 48,
67
+ 49,
68
+ 50,
69
+ 51,
70
+ 52,
71
+ 53,
72
+ 54,
73
+ 55,
74
+ 56,
75
+ 57,
76
+ 58,
77
+ 59,
78
+ 60,
79
+ 61,
80
+ 62,
81
+ 63,
82
+ 64,
83
+ 65,
84
+ 66,
85
+ 67,
86
+ 68,
87
+ 69,
88
+ 70,
89
+ 71,
90
+ 72,
91
+ 73,
92
+ 74,
93
+ 75,
94
+ 76,
95
+ 77,
96
+ 78,
97
+ 79,
98
+ 80,
99
+ 81,
100
+ 82,
101
+ 83,
102
+ 84,
103
+ 85,
104
+ 86,
105
+ 87,
106
+ 88,
107
+ 89,
108
+ 90,
109
+ 91,
110
+ 92,
111
+ 93,
112
+ 94,
113
+ 95,
114
+ 96,
115
+ 97,
116
+ 98,
117
+ 99,
118
+ 100,
119
+ 101,
120
+ 102,
121
+ 103,
122
+ 104,
123
+ 105,
124
+ 106,
125
+ 107,
126
+ 108,
127
+ 109,
128
+ 110,
129
+ 111,
130
+ 112,
131
+ 113,
132
+ 114,
133
+ 115,
134
+ 116,
135
+ 117,
136
+ 118,
137
+ 119,
138
+ 120,
139
+ 121,
140
+ 122,
141
+ 123,
142
+ 124,
143
+ 125,
144
+ 126,
145
+ 127,
146
+ 128,
147
+ 129,
148
+ 130,
149
+ 131,
150
+ 132
151
+ ]
152
+ },
153
+ {
154
+ "lr": 1e-05,
155
+ "betas": [
156
+ 0.9,
157
+ 0.999
158
+ ],
159
+ "eps": 1e-08,
160
+ "weight_decay": 0.0001,
161
+ "amsgrad": false,
162
+ "maximize": false,
163
+ "foreach": null,
164
+ "capturable": false,
165
+ "differentiable": false,
166
+ "fused": null,
167
+ "decoupled_weight_decay": true,
168
+ "params": [
169
+ 133,
170
+ 134,
171
+ 135,
172
+ 136,
173
+ 137,
174
+ 138,
175
+ 139,
176
+ 140,
177
+ 141,
178
+ 142,
179
+ 143,
180
+ 144,
181
+ 145,
182
+ 146,
183
+ 147,
184
+ 148,
185
+ 149,
186
+ 150,
187
+ 151,
188
+ 152
189
+ ]
190
+ }
191
+ ]
checkpoints/010000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1d26129e98bcce4c58b2a5548ddd972a8720de42c56b50e5dd6efa27e0a965db
3
+ size 412817652
checkpoints/010000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:49ef5bb61148514fc2325db5f3a46a525bc3de53f701dce940af2ed156d26a5f
3
+ size 15708
checkpoints/010000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 10000
3
+ }
checkpoints/020000/pretrained_model/config.json ADDED
@@ -0,0 +1,71 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 6
9
+ ]
10
+ },
11
+ "observation.images.front": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ },
19
+ "observation.images.side": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 480,
24
+ 640
25
+ ]
26
+ }
27
+ },
28
+ "output_features": {
29
+ "action": {
30
+ "type": "ACTION",
31
+ "shape": [
32
+ 6
33
+ ]
34
+ }
35
+ },
36
+ "device": "cuda",
37
+ "use_amp": false,
38
+ "use_peft": false,
39
+ "push_to_hub": true,
40
+ "repo_id": "TheReverand/wiretaskbinpick-so101-policy",
41
+ "private": null,
42
+ "tags": null,
43
+ "license": null,
44
+ "pretrained_path": null,
45
+ "chunk_size": 100,
46
+ "n_action_steps": 100,
47
+ "normalization_mapping": {
48
+ "VISUAL": "MEAN_STD",
49
+ "STATE": "MEAN_STD",
50
+ "ACTION": "MEAN_STD"
51
+ },
52
+ "vision_backbone": "resnet18",
53
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
54
+ "replace_final_stride_with_dilation": false,
55
+ "pre_norm": false,
56
+ "dim_model": 512,
57
+ "n_heads": 8,
58
+ "dim_feedforward": 3200,
59
+ "feedforward_activation": "relu",
60
+ "n_encoder_layers": 4,
61
+ "n_decoder_layers": 1,
62
+ "use_vae": true,
63
+ "latent_dim": 32,
64
+ "n_vae_encoder_layers": 4,
65
+ "temporal_ensemble_coeff": null,
66
+ "dropout": 0.1,
67
+ "kl_weight": 10.0,
68
+ "optimizer_lr": 1e-05,
69
+ "optimizer_weight_decay": 0.0001,
70
+ "optimizer_lr_backbone": 1e-05
71
+ }
checkpoints/020000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:21bac4f5e52cd13053ef69db6d3bc0cfd6313dd05d0105e9aa46b9944f597b30
3
+ size 206699736
checkpoints/020000/pretrained_model/policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 6
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MEAN_STD",
19
+ "ACTION": "MEAN_STD"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
checkpoints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:89c7752a839e7810abc2f91ea465abac5d8201f6a65fc82c5e66dcb0ca5622f2
3
+ size 7544
checkpoints/020000/pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.state": {
27
+ "type": "STATE",
28
+ "shape": [
29
+ 6
30
+ ]
31
+ },
32
+ "observation.images.front": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 480,
37
+ 640
38
+ ]
39
+ },
40
+ "observation.images.side": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 480,
45
+ 640
46
+ ]
47
+ },
48
+ "action": {
49
+ "type": "ACTION",
50
+ "shape": [
51
+ 6
52
+ ]
53
+ }
54
+ },
55
+ "norm_map": {
56
+ "VISUAL": "MEAN_STD",
57
+ "STATE": "MEAN_STD",
58
+ "ACTION": "MEAN_STD"
59
+ }
60
+ },
61
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
62
+ }
63
+ ]
64
+ }
checkpoints/020000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:89c7752a839e7810abc2f91ea465abac5d8201f6a65fc82c5e66dcb0ca5622f2
3
+ size 7544
checkpoints/020000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,203 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "TheReverand/wiretask2",
4
+ "root": null,
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ },
61
+ "affine": {
62
+ "weight": 1.0,
63
+ "type": "RandomAffine",
64
+ "kwargs": {
65
+ "degrees": [
66
+ -5.0,
67
+ 5.0
68
+ ],
69
+ "translate": [
70
+ 0.05,
71
+ 0.05
72
+ ]
73
+ }
74
+ }
75
+ }
76
+ },
77
+ "revision": null,
78
+ "use_imagenet_stats": true,
79
+ "video_backend": "torchcodec",
80
+ "streaming": false
81
+ },
82
+ "env": null,
83
+ "policy": {
84
+ "type": "act",
85
+ "n_obs_steps": 1,
86
+ "input_features": {
87
+ "observation.state": {
88
+ "type": "STATE",
89
+ "shape": [
90
+ 6
91
+ ]
92
+ },
93
+ "observation.images.front": {
94
+ "type": "VISUAL",
95
+ "shape": [
96
+ 3,
97
+ 480,
98
+ 640
99
+ ]
100
+ },
101
+ "observation.images.side": {
102
+ "type": "VISUAL",
103
+ "shape": [
104
+ 3,
105
+ 480,
106
+ 640
107
+ ]
108
+ }
109
+ },
110
+ "output_features": {
111
+ "action": {
112
+ "type": "ACTION",
113
+ "shape": [
114
+ 6
115
+ ]
116
+ }
117
+ },
118
+ "device": "cuda",
119
+ "use_amp": false,
120
+ "use_peft": false,
121
+ "push_to_hub": true,
122
+ "repo_id": "TheReverand/wiretaskbinpick-so101-policy",
123
+ "private": null,
124
+ "tags": null,
125
+ "license": null,
126
+ "pretrained_path": null,
127
+ "chunk_size": 100,
128
+ "n_action_steps": 100,
129
+ "normalization_mapping": {
130
+ "VISUAL": "MEAN_STD",
131
+ "STATE": "MEAN_STD",
132
+ "ACTION": "MEAN_STD"
133
+ },
134
+ "vision_backbone": "resnet18",
135
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
136
+ "replace_final_stride_with_dilation": false,
137
+ "pre_norm": false,
138
+ "dim_model": 512,
139
+ "n_heads": 8,
140
+ "dim_feedforward": 3200,
141
+ "feedforward_activation": "relu",
142
+ "n_encoder_layers": 4,
143
+ "n_decoder_layers": 1,
144
+ "use_vae": true,
145
+ "latent_dim": 32,
146
+ "n_vae_encoder_layers": 4,
147
+ "temporal_ensemble_coeff": null,
148
+ "dropout": 0.1,
149
+ "kl_weight": 10.0,
150
+ "optimizer_lr": 1e-05,
151
+ "optimizer_weight_decay": 0.0001,
152
+ "optimizer_lr_backbone": 1e-05
153
+ },
154
+ "output_dir": "outputs/train/wiretask2_so101",
155
+ "job_name": "wiretask2_so101_run",
156
+ "resume": false,
157
+ "seed": 1000,
158
+ "cudnn_deterministic": false,
159
+ "num_workers": 4,
160
+ "batch_size": 8,
161
+ "steps": 100000,
162
+ "eval_freq": 20000,
163
+ "log_freq": 200,
164
+ "tolerance_s": 0.0001,
165
+ "save_checkpoint": true,
166
+ "save_freq": 10000,
167
+ "use_policy_training_preset": true,
168
+ "optimizer": {
169
+ "type": "adamw",
170
+ "lr": 1e-05,
171
+ "weight_decay": 0.0001,
172
+ "grad_clip_norm": 10.0,
173
+ "betas": [
174
+ 0.9,
175
+ 0.999
176
+ ],
177
+ "eps": 1e-08
178
+ },
179
+ "scheduler": null,
180
+ "eval": {
181
+ "n_episodes": 50,
182
+ "batch_size": 50,
183
+ "use_async_envs": false
184
+ },
185
+ "wandb": {
186
+ "enable": true,
187
+ "disable_artifact": false,
188
+ "project": "act-robotics-study",
189
+ "entity": null,
190
+ "notes": null,
191
+ "run_id": "6aynabke",
192
+ "mode": null,
193
+ "add_tags": true
194
+ },
195
+ "peft": null,
196
+ "use_rabc": false,
197
+ "rabc_progress_path": null,
198
+ "rabc_kappa": 0.01,
199
+ "rabc_epsilon": 1e-06,
200
+ "rabc_head_mode": "sparse",
201
+ "rename_map": {},
202
+ "checkpoint_path": null
203
+ }
checkpoints/020000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "lr": 1e-05,
4
+ "betas": [
5
+ 0.9,
6
+ 0.999
7
+ ],
8
+ "eps": 1e-08,
9
+ "weight_decay": 0.0001,
10
+ "amsgrad": false,
11
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": true,
17
+ "params": [
18
+ 0,
19
+ 1,
20
+ 2,
21
+ 3,
22
+ 4,
23
+ 5,
24
+ 6,
25
+ 7,
26
+ 8,
27
+ 9,
28
+ 10,
29
+ 11,
30
+ 12,
31
+ 13,
32
+ 14,
33
+ 15,
34
+ 16,
35
+ 17,
36
+ 18,
37
+ 19,
38
+ 20,
39
+ 21,
40
+ 22,
41
+ 23,
42
+ 24,
43
+ 25,
44
+ 26,
45
+ 27,
46
+ 28,
47
+ 29,
48
+ 30,
49
+ 31,
50
+ 32,
51
+ 33,
52
+ 34,
53
+ 35,
54
+ 36,
55
+ 37,
56
+ 38,
57
+ 39,
58
+ 40,
59
+ 41,
60
+ 42,
61
+ 43,
62
+ 44,
63
+ 45,
64
+ 46,
65
+ 47,
66
+ 48,
67
+ 49,
68
+ 50,
69
+ 51,
70
+ 52,
71
+ 53,
72
+ 54,
73
+ 55,
74
+ 56,
75
+ 57,
76
+ 58,
77
+ 59,
78
+ 60,
79
+ 61,
80
+ 62,
81
+ 63,
82
+ 64,
83
+ 65,
84
+ 66,
85
+ 67,
86
+ 68,
87
+ 69,
88
+ 70,
89
+ 71,
90
+ 72,
91
+ 73,
92
+ 74,
93
+ 75,
94
+ 76,
95
+ 77,
96
+ 78,
97
+ 79,
98
+ 80,
99
+ 81,
100
+ 82,
101
+ 83,
102
+ 84,
103
+ 85,
104
+ 86,
105
+ 87,
106
+ 88,
107
+ 89,
108
+ 90,
109
+ 91,
110
+ 92,
111
+ 93,
112
+ 94,
113
+ 95,
114
+ 96,
115
+ 97,
116
+ 98,
117
+ 99,
118
+ 100,
119
+ 101,
120
+ 102,
121
+ 103,
122
+ 104,
123
+ 105,
124
+ 106,
125
+ 107,
126
+ 108,
127
+ 109,
128
+ 110,
129
+ 111,
130
+ 112,
131
+ 113,
132
+ 114,
133
+ 115,
134
+ 116,
135
+ 117,
136
+ 118,
137
+ 119,
138
+ 120,
139
+ 121,
140
+ 122,
141
+ 123,
142
+ 124,
143
+ 125,
144
+ 126,
145
+ 127,
146
+ 128,
147
+ 129,
148
+ 130,
149
+ 131,
150
+ 132
151
+ ]
152
+ },
153
+ {
154
+ "lr": 1e-05,
155
+ "betas": [
156
+ 0.9,
157
+ 0.999
158
+ ],
159
+ "eps": 1e-08,
160
+ "weight_decay": 0.0001,
161
+ "amsgrad": false,
162
+ "maximize": false,
163
+ "foreach": null,
164
+ "capturable": false,
165
+ "differentiable": false,
166
+ "fused": null,
167
+ "decoupled_weight_decay": true,
168
+ "params": [
169
+ 133,
170
+ 134,
171
+ 135,
172
+ 136,
173
+ 137,
174
+ 138,
175
+ 139,
176
+ 140,
177
+ 141,
178
+ 142,
179
+ 143,
180
+ 144,
181
+ 145,
182
+ 146,
183
+ 147,
184
+ 148,
185
+ 149,
186
+ 150,
187
+ 151,
188
+ 152
189
+ ]
190
+ }
191
+ ]
checkpoints/020000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:81ba0762645942685b2af7a98ea6fcf40e5109a2a996170caf592bd5f6f313f6
3
+ size 412817652
checkpoints/020000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b301bfe087f3fcca6b07e4559eebc78485fac6c43c3fd1462b9b19fc0faba498
3
+ size 15708
checkpoints/020000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 20000
3
+ }
checkpoints/030000/pretrained_model/config.json ADDED
@@ -0,0 +1,71 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 6
9
+ ]
10
+ },
11
+ "observation.images.front": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ },
19
+ "observation.images.side": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 480,
24
+ 640
25
+ ]
26
+ }
27
+ },
28
+ "output_features": {
29
+ "action": {
30
+ "type": "ACTION",
31
+ "shape": [
32
+ 6
33
+ ]
34
+ }
35
+ },
36
+ "device": "cuda",
37
+ "use_amp": false,
38
+ "use_peft": false,
39
+ "push_to_hub": true,
40
+ "repo_id": "TheReverand/wiretaskbinpick-so101-policy",
41
+ "private": null,
42
+ "tags": null,
43
+ "license": null,
44
+ "pretrained_path": null,
45
+ "chunk_size": 100,
46
+ "n_action_steps": 100,
47
+ "normalization_mapping": {
48
+ "VISUAL": "MEAN_STD",
49
+ "STATE": "MEAN_STD",
50
+ "ACTION": "MEAN_STD"
51
+ },
52
+ "vision_backbone": "resnet18",
53
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
54
+ "replace_final_stride_with_dilation": false,
55
+ "pre_norm": false,
56
+ "dim_model": 512,
57
+ "n_heads": 8,
58
+ "dim_feedforward": 3200,
59
+ "feedforward_activation": "relu",
60
+ "n_encoder_layers": 4,
61
+ "n_decoder_layers": 1,
62
+ "use_vae": true,
63
+ "latent_dim": 32,
64
+ "n_vae_encoder_layers": 4,
65
+ "temporal_ensemble_coeff": null,
66
+ "dropout": 0.1,
67
+ "kl_weight": 10.0,
68
+ "optimizer_lr": 1e-05,
69
+ "optimizer_weight_decay": 0.0001,
70
+ "optimizer_lr_backbone": 1e-05
71
+ }
checkpoints/030000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1086dc10359a33eb6ca97e0dadb5ba551b5e07ff25343c1f1e4a2cfdefda23f7
3
+ size 206699736
checkpoints/030000/pretrained_model/policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 6
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MEAN_STD",
19
+ "ACTION": "MEAN_STD"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
checkpoints/030000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:89c7752a839e7810abc2f91ea465abac5d8201f6a65fc82c5e66dcb0ca5622f2
3
+ size 7544
checkpoints/030000/pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.state": {
27
+ "type": "STATE",
28
+ "shape": [
29
+ 6
30
+ ]
31
+ },
32
+ "observation.images.front": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 480,
37
+ 640
38
+ ]
39
+ },
40
+ "observation.images.side": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 480,
45
+ 640
46
+ ]
47
+ },
48
+ "action": {
49
+ "type": "ACTION",
50
+ "shape": [
51
+ 6
52
+ ]
53
+ }
54
+ },
55
+ "norm_map": {
56
+ "VISUAL": "MEAN_STD",
57
+ "STATE": "MEAN_STD",
58
+ "ACTION": "MEAN_STD"
59
+ }
60
+ },
61
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
62
+ }
63
+ ]
64
+ }
checkpoints/030000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:89c7752a839e7810abc2f91ea465abac5d8201f6a65fc82c5e66dcb0ca5622f2
3
+ size 7544
checkpoints/030000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,203 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "TheReverand/wiretask2",
4
+ "root": null,
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ },
61
+ "affine": {
62
+ "weight": 1.0,
63
+ "type": "RandomAffine",
64
+ "kwargs": {
65
+ "degrees": [
66
+ -5.0,
67
+ 5.0
68
+ ],
69
+ "translate": [
70
+ 0.05,
71
+ 0.05
72
+ ]
73
+ }
74
+ }
75
+ }
76
+ },
77
+ "revision": null,
78
+ "use_imagenet_stats": true,
79
+ "video_backend": "torchcodec",
80
+ "streaming": false
81
+ },
82
+ "env": null,
83
+ "policy": {
84
+ "type": "act",
85
+ "n_obs_steps": 1,
86
+ "input_features": {
87
+ "observation.state": {
88
+ "type": "STATE",
89
+ "shape": [
90
+ 6
91
+ ]
92
+ },
93
+ "observation.images.front": {
94
+ "type": "VISUAL",
95
+ "shape": [
96
+ 3,
97
+ 480,
98
+ 640
99
+ ]
100
+ },
101
+ "observation.images.side": {
102
+ "type": "VISUAL",
103
+ "shape": [
104
+ 3,
105
+ 480,
106
+ 640
107
+ ]
108
+ }
109
+ },
110
+ "output_features": {
111
+ "action": {
112
+ "type": "ACTION",
113
+ "shape": [
114
+ 6
115
+ ]
116
+ }
117
+ },
118
+ "device": "cuda",
119
+ "use_amp": false,
120
+ "use_peft": false,
121
+ "push_to_hub": true,
122
+ "repo_id": "TheReverand/wiretaskbinpick-so101-policy",
123
+ "private": null,
124
+ "tags": null,
125
+ "license": null,
126
+ "pretrained_path": null,
127
+ "chunk_size": 100,
128
+ "n_action_steps": 100,
129
+ "normalization_mapping": {
130
+ "VISUAL": "MEAN_STD",
131
+ "STATE": "MEAN_STD",
132
+ "ACTION": "MEAN_STD"
133
+ },
134
+ "vision_backbone": "resnet18",
135
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
136
+ "replace_final_stride_with_dilation": false,
137
+ "pre_norm": false,
138
+ "dim_model": 512,
139
+ "n_heads": 8,
140
+ "dim_feedforward": 3200,
141
+ "feedforward_activation": "relu",
142
+ "n_encoder_layers": 4,
143
+ "n_decoder_layers": 1,
144
+ "use_vae": true,
145
+ "latent_dim": 32,
146
+ "n_vae_encoder_layers": 4,
147
+ "temporal_ensemble_coeff": null,
148
+ "dropout": 0.1,
149
+ "kl_weight": 10.0,
150
+ "optimizer_lr": 1e-05,
151
+ "optimizer_weight_decay": 0.0001,
152
+ "optimizer_lr_backbone": 1e-05
153
+ },
154
+ "output_dir": "outputs/train/wiretask2_so101",
155
+ "job_name": "wiretask2_so101_run",
156
+ "resume": false,
157
+ "seed": 1000,
158
+ "cudnn_deterministic": false,
159
+ "num_workers": 4,
160
+ "batch_size": 8,
161
+ "steps": 100000,
162
+ "eval_freq": 20000,
163
+ "log_freq": 200,
164
+ "tolerance_s": 0.0001,
165
+ "save_checkpoint": true,
166
+ "save_freq": 10000,
167
+ "use_policy_training_preset": true,
168
+ "optimizer": {
169
+ "type": "adamw",
170
+ "lr": 1e-05,
171
+ "weight_decay": 0.0001,
172
+ "grad_clip_norm": 10.0,
173
+ "betas": [
174
+ 0.9,
175
+ 0.999
176
+ ],
177
+ "eps": 1e-08
178
+ },
179
+ "scheduler": null,
180
+ "eval": {
181
+ "n_episodes": 50,
182
+ "batch_size": 50,
183
+ "use_async_envs": false
184
+ },
185
+ "wandb": {
186
+ "enable": true,
187
+ "disable_artifact": false,
188
+ "project": "act-robotics-study",
189
+ "entity": null,
190
+ "notes": null,
191
+ "run_id": "6aynabke",
192
+ "mode": null,
193
+ "add_tags": true
194
+ },
195
+ "peft": null,
196
+ "use_rabc": false,
197
+ "rabc_progress_path": null,
198
+ "rabc_kappa": 0.01,
199
+ "rabc_epsilon": 1e-06,
200
+ "rabc_head_mode": "sparse",
201
+ "rename_map": {},
202
+ "checkpoint_path": null
203
+ }
checkpoints/030000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "lr": 1e-05,
4
+ "betas": [
5
+ 0.9,
6
+ 0.999
7
+ ],
8
+ "eps": 1e-08,
9
+ "weight_decay": 0.0001,
10
+ "amsgrad": false,
11
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": true,
17
+ "params": [
18
+ 0,
19
+ 1,
20
+ 2,
21
+ 3,
22
+ 4,
23
+ 5,
24
+ 6,
25
+ 7,
26
+ 8,
27
+ 9,
28
+ 10,
29
+ 11,
30
+ 12,
31
+ 13,
32
+ 14,
33
+ 15,
34
+ 16,
35
+ 17,
36
+ 18,
37
+ 19,
38
+ 20,
39
+ 21,
40
+ 22,
41
+ 23,
42
+ 24,
43
+ 25,
44
+ 26,
45
+ 27,
46
+ 28,
47
+ 29,
48
+ 30,
49
+ 31,
50
+ 32,
51
+ 33,
52
+ 34,
53
+ 35,
54
+ 36,
55
+ 37,
56
+ 38,
57
+ 39,
58
+ 40,
59
+ 41,
60
+ 42,
61
+ 43,
62
+ 44,
63
+ 45,
64
+ 46,
65
+ 47,
66
+ 48,
67
+ 49,
68
+ 50,
69
+ 51,
70
+ 52,
71
+ 53,
72
+ 54,
73
+ 55,
74
+ 56,
75
+ 57,
76
+ 58,
77
+ 59,
78
+ 60,
79
+ 61,
80
+ 62,
81
+ 63,
82
+ 64,
83
+ 65,
84
+ 66,
85
+ 67,
86
+ 68,
87
+ 69,
88
+ 70,
89
+ 71,
90
+ 72,
91
+ 73,
92
+ 74,
93
+ 75,
94
+ 76,
95
+ 77,
96
+ 78,
97
+ 79,
98
+ 80,
99
+ 81,
100
+ 82,
101
+ 83,
102
+ 84,
103
+ 85,
104
+ 86,
105
+ 87,
106
+ 88,
107
+ 89,
108
+ 90,
109
+ 91,
110
+ 92,
111
+ 93,
112
+ 94,
113
+ 95,
114
+ 96,
115
+ 97,
116
+ 98,
117
+ 99,
118
+ 100,
119
+ 101,
120
+ 102,
121
+ 103,
122
+ 104,
123
+ 105,
124
+ 106,
125
+ 107,
126
+ 108,
127
+ 109,
128
+ 110,
129
+ 111,
130
+ 112,
131
+ 113,
132
+ 114,
133
+ 115,
134
+ 116,
135
+ 117,
136
+ 118,
137
+ 119,
138
+ 120,
139
+ 121,
140
+ 122,
141
+ 123,
142
+ 124,
143
+ 125,
144
+ 126,
145
+ 127,
146
+ 128,
147
+ 129,
148
+ 130,
149
+ 131,
150
+ 132
151
+ ]
152
+ },
153
+ {
154
+ "lr": 1e-05,
155
+ "betas": [
156
+ 0.9,
157
+ 0.999
158
+ ],
159
+ "eps": 1e-08,
160
+ "weight_decay": 0.0001,
161
+ "amsgrad": false,
162
+ "maximize": false,
163
+ "foreach": null,
164
+ "capturable": false,
165
+ "differentiable": false,
166
+ "fused": null,
167
+ "decoupled_weight_decay": true,
168
+ "params": [
169
+ 133,
170
+ 134,
171
+ 135,
172
+ 136,
173
+ 137,
174
+ 138,
175
+ 139,
176
+ 140,
177
+ 141,
178
+ 142,
179
+ 143,
180
+ 144,
181
+ 145,
182
+ 146,
183
+ 147,
184
+ 148,
185
+ 149,
186
+ 150,
187
+ 151,
188
+ 152
189
+ ]
190
+ }
191
+ ]
checkpoints/030000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c17266d22df7b447a6646b696b3ec3f946d7a78f728232f579fee54efb8f9c2e
3
+ size 412817652
checkpoints/030000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f39d92dd18c739a12d01018966546fa8cbc46646a44db75aeb5b5f4ffbb14442
3
+ size 15708
checkpoints/030000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 30000
3
+ }
checkpoints/040000/pretrained_model/config.json ADDED
@@ -0,0 +1,71 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 6
9
+ ]
10
+ },
11
+ "observation.images.front": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ },
19
+ "observation.images.side": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 480,
24
+ 640
25
+ ]
26
+ }
27
+ },
28
+ "output_features": {
29
+ "action": {
30
+ "type": "ACTION",
31
+ "shape": [
32
+ 6
33
+ ]
34
+ }
35
+ },
36
+ "device": "cuda",
37
+ "use_amp": false,
38
+ "use_peft": false,
39
+ "push_to_hub": true,
40
+ "repo_id": "TheReverand/wiretaskbinpick-so101-policy",
41
+ "private": null,
42
+ "tags": null,
43
+ "license": null,
44
+ "pretrained_path": null,
45
+ "chunk_size": 100,
46
+ "n_action_steps": 100,
47
+ "normalization_mapping": {
48
+ "VISUAL": "MEAN_STD",
49
+ "STATE": "MEAN_STD",
50
+ "ACTION": "MEAN_STD"
51
+ },
52
+ "vision_backbone": "resnet18",
53
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
54
+ "replace_final_stride_with_dilation": false,
55
+ "pre_norm": false,
56
+ "dim_model": 512,
57
+ "n_heads": 8,
58
+ "dim_feedforward": 3200,
59
+ "feedforward_activation": "relu",
60
+ "n_encoder_layers": 4,
61
+ "n_decoder_layers": 1,
62
+ "use_vae": true,
63
+ "latent_dim": 32,
64
+ "n_vae_encoder_layers": 4,
65
+ "temporal_ensemble_coeff": null,
66
+ "dropout": 0.1,
67
+ "kl_weight": 10.0,
68
+ "optimizer_lr": 1e-05,
69
+ "optimizer_weight_decay": 0.0001,
70
+ "optimizer_lr_backbone": 1e-05
71
+ }
checkpoints/040000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:17141fd491fdcdecd6665f296076c5c126faa49d8137c2bda52625745d43de2b
3
+ size 206699736
checkpoints/040000/pretrained_model/policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 6
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MEAN_STD",
19
+ "ACTION": "MEAN_STD"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
checkpoints/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:89c7752a839e7810abc2f91ea465abac5d8201f6a65fc82c5e66dcb0ca5622f2
3
+ size 7544
checkpoints/040000/pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.state": {
27
+ "type": "STATE",
28
+ "shape": [
29
+ 6
30
+ ]
31
+ },
32
+ "observation.images.front": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 480,
37
+ 640
38
+ ]
39
+ },
40
+ "observation.images.side": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 480,
45
+ 640
46
+ ]
47
+ },
48
+ "action": {
49
+ "type": "ACTION",
50
+ "shape": [
51
+ 6
52
+ ]
53
+ }
54
+ },
55
+ "norm_map": {
56
+ "VISUAL": "MEAN_STD",
57
+ "STATE": "MEAN_STD",
58
+ "ACTION": "MEAN_STD"
59
+ }
60
+ },
61
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
62
+ }
63
+ ]
64
+ }
checkpoints/040000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:89c7752a839e7810abc2f91ea465abac5d8201f6a65fc82c5e66dcb0ca5622f2
3
+ size 7544
checkpoints/040000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,203 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "TheReverand/wiretask2",
4
+ "root": null,
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ },
61
+ "affine": {
62
+ "weight": 1.0,
63
+ "type": "RandomAffine",
64
+ "kwargs": {
65
+ "degrees": [
66
+ -5.0,
67
+ 5.0
68
+ ],
69
+ "translate": [
70
+ 0.05,
71
+ 0.05
72
+ ]
73
+ }
74
+ }
75
+ }
76
+ },
77
+ "revision": null,
78
+ "use_imagenet_stats": true,
79
+ "video_backend": "torchcodec",
80
+ "streaming": false
81
+ },
82
+ "env": null,
83
+ "policy": {
84
+ "type": "act",
85
+ "n_obs_steps": 1,
86
+ "input_features": {
87
+ "observation.state": {
88
+ "type": "STATE",
89
+ "shape": [
90
+ 6
91
+ ]
92
+ },
93
+ "observation.images.front": {
94
+ "type": "VISUAL",
95
+ "shape": [
96
+ 3,
97
+ 480,
98
+ 640
99
+ ]
100
+ },
101
+ "observation.images.side": {
102
+ "type": "VISUAL",
103
+ "shape": [
104
+ 3,
105
+ 480,
106
+ 640
107
+ ]
108
+ }
109
+ },
110
+ "output_features": {
111
+ "action": {
112
+ "type": "ACTION",
113
+ "shape": [
114
+ 6
115
+ ]
116
+ }
117
+ },
118
+ "device": "cuda",
119
+ "use_amp": false,
120
+ "use_peft": false,
121
+ "push_to_hub": true,
122
+ "repo_id": "TheReverand/wiretaskbinpick-so101-policy",
123
+ "private": null,
124
+ "tags": null,
125
+ "license": null,
126
+ "pretrained_path": null,
127
+ "chunk_size": 100,
128
+ "n_action_steps": 100,
129
+ "normalization_mapping": {
130
+ "VISUAL": "MEAN_STD",
131
+ "STATE": "MEAN_STD",
132
+ "ACTION": "MEAN_STD"
133
+ },
134
+ "vision_backbone": "resnet18",
135
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
136
+ "replace_final_stride_with_dilation": false,
137
+ "pre_norm": false,
138
+ "dim_model": 512,
139
+ "n_heads": 8,
140
+ "dim_feedforward": 3200,
141
+ "feedforward_activation": "relu",
142
+ "n_encoder_layers": 4,
143
+ "n_decoder_layers": 1,
144
+ "use_vae": true,
145
+ "latent_dim": 32,
146
+ "n_vae_encoder_layers": 4,
147
+ "temporal_ensemble_coeff": null,
148
+ "dropout": 0.1,
149
+ "kl_weight": 10.0,
150
+ "optimizer_lr": 1e-05,
151
+ "optimizer_weight_decay": 0.0001,
152
+ "optimizer_lr_backbone": 1e-05
153
+ },
154
+ "output_dir": "outputs/train/wiretask2_so101",
155
+ "job_name": "wiretask2_so101_run",
156
+ "resume": false,
157
+ "seed": 1000,
158
+ "cudnn_deterministic": false,
159
+ "num_workers": 4,
160
+ "batch_size": 8,
161
+ "steps": 100000,
162
+ "eval_freq": 20000,
163
+ "log_freq": 200,
164
+ "tolerance_s": 0.0001,
165
+ "save_checkpoint": true,
166
+ "save_freq": 10000,
167
+ "use_policy_training_preset": true,
168
+ "optimizer": {
169
+ "type": "adamw",
170
+ "lr": 1e-05,
171
+ "weight_decay": 0.0001,
172
+ "grad_clip_norm": 10.0,
173
+ "betas": [
174
+ 0.9,
175
+ 0.999
176
+ ],
177
+ "eps": 1e-08
178
+ },
179
+ "scheduler": null,
180
+ "eval": {
181
+ "n_episodes": 50,
182
+ "batch_size": 50,
183
+ "use_async_envs": false
184
+ },
185
+ "wandb": {
186
+ "enable": true,
187
+ "disable_artifact": false,
188
+ "project": "act-robotics-study",
189
+ "entity": null,
190
+ "notes": null,
191
+ "run_id": "6aynabke",
192
+ "mode": null,
193
+ "add_tags": true
194
+ },
195
+ "peft": null,
196
+ "use_rabc": false,
197
+ "rabc_progress_path": null,
198
+ "rabc_kappa": 0.01,
199
+ "rabc_epsilon": 1e-06,
200
+ "rabc_head_mode": "sparse",
201
+ "rename_map": {},
202
+ "checkpoint_path": null
203
+ }
checkpoints/040000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "lr": 1e-05,
4
+ "betas": [
5
+ 0.9,
6
+ 0.999
7
+ ],
8
+ "eps": 1e-08,
9
+ "weight_decay": 0.0001,
10
+ "amsgrad": false,
11
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": true,
17
+ "params": [
18
+ 0,
19
+ 1,
20
+ 2,
21
+ 3,
22
+ 4,
23
+ 5,
24
+ 6,
25
+ 7,
26
+ 8,
27
+ 9,
28
+ 10,
29
+ 11,
30
+ 12,
31
+ 13,
32
+ 14,
33
+ 15,
34
+ 16,
35
+ 17,
36
+ 18,
37
+ 19,
38
+ 20,
39
+ 21,
40
+ 22,
41
+ 23,
42
+ 24,
43
+ 25,
44
+ 26,
45
+ 27,
46
+ 28,
47
+ 29,
48
+ 30,
49
+ 31,
50
+ 32,
51
+ 33,
52
+ 34,
53
+ 35,
54
+ 36,
55
+ 37,
56
+ 38,
57
+ 39,
58
+ 40,
59
+ 41,
60
+ 42,
61
+ 43,
62
+ 44,
63
+ 45,
64
+ 46,
65
+ 47,
66
+ 48,
67
+ 49,
68
+ 50,
69
+ 51,
70
+ 52,
71
+ 53,
72
+ 54,
73
+ 55,
74
+ 56,
75
+ 57,
76
+ 58,
77
+ 59,
78
+ 60,
79
+ 61,
80
+ 62,
81
+ 63,
82
+ 64,
83
+ 65,
84
+ 66,
85
+ 67,
86
+ 68,
87
+ 69,
88
+ 70,
89
+ 71,
90
+ 72,
91
+ 73,
92
+ 74,
93
+ 75,
94
+ 76,
95
+ 77,
96
+ 78,
97
+ 79,
98
+ 80,
99
+ 81,
100
+ 82,
101
+ 83,
102
+ 84,
103
+ 85,
104
+ 86,
105
+ 87,
106
+ 88,
107
+ 89,
108
+ 90,
109
+ 91,
110
+ 92,
111
+ 93,
112
+ 94,
113
+ 95,
114
+ 96,
115
+ 97,
116
+ 98,
117
+ 99,
118
+ 100,
119
+ 101,
120
+ 102,
121
+ 103,
122
+ 104,
123
+ 105,
124
+ 106,
125
+ 107,
126
+ 108,
127
+ 109,
128
+ 110,
129
+ 111,
130
+ 112,
131
+ 113,
132
+ 114,
133
+ 115,
134
+ 116,
135
+ 117,
136
+ 118,
137
+ 119,
138
+ 120,
139
+ 121,
140
+ 122,
141
+ 123,
142
+ 124,
143
+ 125,
144
+ 126,
145
+ 127,
146
+ 128,
147
+ 129,
148
+ 130,
149
+ 131,
150
+ 132
151
+ ]
152
+ },
153
+ {
154
+ "lr": 1e-05,
155
+ "betas": [
156
+ 0.9,
157
+ 0.999
158
+ ],
159
+ "eps": 1e-08,
160
+ "weight_decay": 0.0001,
161
+ "amsgrad": false,
162
+ "maximize": false,
163
+ "foreach": null,
164
+ "capturable": false,
165
+ "differentiable": false,
166
+ "fused": null,
167
+ "decoupled_weight_decay": true,
168
+ "params": [
169
+ 133,
170
+ 134,
171
+ 135,
172
+ 136,
173
+ 137,
174
+ 138,
175
+ 139,
176
+ 140,
177
+ 141,
178
+ 142,
179
+ 143,
180
+ 144,
181
+ 145,
182
+ 146,
183
+ 147,
184
+ 148,
185
+ 149,
186
+ 150,
187
+ 151,
188
+ 152
189
+ ]
190
+ }
191
+ ]
checkpoints/040000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fbaeb725a1e86c7c8f32b5031c6ef814022baa5c81137f67f20eb1381c06db63
3
+ size 412817652
checkpoints/040000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:271748b4b53834fac398ef3250d68c966413f078a60db81478a5b11b8d209e5e
3
+ size 15708
checkpoints/040000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 40000
3
+ }
checkpoints/050000/pretrained_model/config.json ADDED
@@ -0,0 +1,71 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 6
9
+ ]
10
+ },
11
+ "observation.images.front": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ },
19
+ "observation.images.side": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 480,
24
+ 640
25
+ ]
26
+ }
27
+ },
28
+ "output_features": {
29
+ "action": {
30
+ "type": "ACTION",
31
+ "shape": [
32
+ 6
33
+ ]
34
+ }
35
+ },
36
+ "device": "cuda",
37
+ "use_amp": false,
38
+ "use_peft": false,
39
+ "push_to_hub": true,
40
+ "repo_id": "TheReverand/wiretaskbinpick-so101-policy",
41
+ "private": null,
42
+ "tags": null,
43
+ "license": null,
44
+ "pretrained_path": null,
45
+ "chunk_size": 100,
46
+ "n_action_steps": 100,
47
+ "normalization_mapping": {
48
+ "VISUAL": "MEAN_STD",
49
+ "STATE": "MEAN_STD",
50
+ "ACTION": "MEAN_STD"
51
+ },
52
+ "vision_backbone": "resnet18",
53
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
54
+ "replace_final_stride_with_dilation": false,
55
+ "pre_norm": false,
56
+ "dim_model": 512,
57
+ "n_heads": 8,
58
+ "dim_feedforward": 3200,
59
+ "feedforward_activation": "relu",
60
+ "n_encoder_layers": 4,
61
+ "n_decoder_layers": 1,
62
+ "use_vae": true,
63
+ "latent_dim": 32,
64
+ "n_vae_encoder_layers": 4,
65
+ "temporal_ensemble_coeff": null,
66
+ "dropout": 0.1,
67
+ "kl_weight": 10.0,
68
+ "optimizer_lr": 1e-05,
69
+ "optimizer_weight_decay": 0.0001,
70
+ "optimizer_lr_backbone": 1e-05
71
+ }
checkpoints/050000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9a9f93b238bf5cf12bb45502120d8d9ad236a1cfbc49871d5d7029baa3d09a8b
3
+ size 206699736
checkpoints/050000/pretrained_model/policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 6
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MEAN_STD",
19
+ "ACTION": "MEAN_STD"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
checkpoints/050000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:89c7752a839e7810abc2f91ea465abac5d8201f6a65fc82c5e66dcb0ca5622f2
3
+ size 7544
checkpoints/050000/pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.state": {
27
+ "type": "STATE",
28
+ "shape": [
29
+ 6
30
+ ]
31
+ },
32
+ "observation.images.front": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 480,
37
+ 640
38
+ ]
39
+ },
40
+ "observation.images.side": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 480,
45
+ 640
46
+ ]
47
+ },
48
+ "action": {
49
+ "type": "ACTION",
50
+ "shape": [
51
+ 6
52
+ ]
53
+ }
54
+ },
55
+ "norm_map": {
56
+ "VISUAL": "MEAN_STD",
57
+ "STATE": "MEAN_STD",
58
+ "ACTION": "MEAN_STD"
59
+ }
60
+ },
61
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
62
+ }
63
+ ]
64
+ }