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pretrained_model/README.md

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+---
+tags:
+- model_hub_mixin
+- pytorch_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]

pretrained_model/config.json

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+{
+  "advantage_scaling": 3.0,
+  "cem_iterations": 6,
+  "consistency_coeff": 20.0,
+  "discount": 0.98,
+  "elite_weighting_temperature": 0.5,
+  "expectile_weight": 0.9,
+  "gaussian_mean_momentum": 0.1,
+  "horizon": 5,
+  "image_encoder_hidden_dim": 32,
+  "input_normalization_modes": {
+    "observation.environment_state": "min_max",
+    "observation.state": "min_max"
+  },
+  "input_shapes": {
+    "observation.environment_state": [
+      16
+    ],
+    "observation.state": [
+      2
+    ]
+  },
+  "latent_dim": 50,
+  "max_random_shift_ratio": 0.0476,
+  "max_std": 2.0,
+  "min_std": 0.05,
+  "mlp_dim": 512,
+  "n_action_repeats": 1,
+  "n_action_steps": 5,
+  "n_elites": 50,
+  "n_gaussian_samples": 512,
+  "n_pi_samples": 51,
+  "output_normalization_modes": {
+    "action": "min_max"
+  },
+  "output_shapes": {
+    "action": [
+      2
+    ]
+  },
+  "pi_coeff": 0.5,
+  "q_ensemble_size": 5,
+  "reward_coeff": 0.5,
+  "state_encoder_hidden_dim": 256,
+  "target_model_momentum": 0.995,
+  "temporal_decay_coeff": 0.5,
+  "uncertainty_regularizer_coeff": 1.0,
+  "use_mpc": true,
+  "value_coeff": 0.1
+}

pretrained_model/config.yaml

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+resume: false
+device: cuda
+use_amp: true
+seed: 1
+dataset_repo_id: lerobot/pusht_keypoints
+video_backend: pyav
+training:
+  offline_steps: 0
+  num_workers: 12
+  batch_size: 256
+  eval_freq: 10000
+  log_freq: 250
+  save_checkpoint: true
+  save_freq: 10000
+  online_steps: 1000000
+  online_steps_between_rollouts: 1000
+  online_rollout_n_episodes: 10
+  online_rollout_batch_size: 10
+  online_sampling_ratio: 1.0
+  online_env_seed: 10000
+  online_buffer_capacity: 40000
+  online_buffer_seed_size: 0
+  do_online_rollout_async: false
+  image_transforms:
+    enable: false
+    max_num_transforms: 3
+    random_order: false
+    brightness:
+      weight: 1
+      min_max:
+      - 0.8
+      - 1.2
+    contrast:
+      weight: 1
+      min_max:
+      - 0.8
+      - 1.2
+    saturation:
+      weight: 1
+      min_max:
+      - 0.5
+      - 1.5
+    hue:
+      weight: 1
+      min_max:
+      - -0.05
+      - 0.05
+    sharpness:
+      weight: 1
+      min_max:
+      - 0.8
+      - 1.2
+  grad_clip_norm: 10.0
+  lr: 0.0003
+  delta_timestamps:
+    observation.environment_state:
+    - 0.0
+    - 0.1
+    - 0.2
+    - 0.3
+    - 0.4
+    - 0.5
+    observation.state:
+    - 0.0
+    - 0.1
+    - 0.2
+    - 0.3
+    - 0.4
+    - 0.5
+    action:
+    - 0.0
+    - 0.1
+    - 0.2
+    - 0.3
+    - 0.4
+    next.reward:
+    - 0.0
+    - 0.1
+    - 0.2
+    - 0.3
+    - 0.4
+eval:
+  n_episodes: 50
+  batch_size: 50
+  use_async_envs: true
+wandb:
+  enable: true
+  disable_artifact: true
+  project: lerobot
+  notes: ''
+fps: 10
+env:
+  name: pusht
+  task: PushT-v0
+  image_size: 96
+  state_dim: 2
+  action_dim: 2
+  fps: ${fps}
+  episode_length: 300
+  gym:
+    obs_type: environment_state_agent_pos
+    render_mode: rgb_array
+    visualization_width: 384
+    visualization_height: 384
+policy:
+  name: tdmpc
+  pretrained_model_path: null
+  n_action_repeats: 1
+  horizon: 5
+  n_action_steps: 5
+  input_shapes:
+    observation.environment_state:
+    - 16
+    observation.state:
+    - ${env.state_dim}
+  output_shapes:
+    action:
+    - ${env.action_dim}
+  input_normalization_modes:
+    observation.environment_state: min_max
+    observation.state: min_max
+  output_normalization_modes:
+    action: min_max
+  image_encoder_hidden_dim: 32
+  state_encoder_hidden_dim: 256
+  latent_dim: 50
+  q_ensemble_size: 5
+  mlp_dim: 512
+  discount: 0.98
+  use_mpc: true
+  cem_iterations: 6
+  max_std: 2.0
+  min_std: 0.05
+  n_gaussian_samples: 512
+  n_pi_samples: 51
+  uncertainty_regularizer_coeff: 1.0
+  n_elites: 50
+  elite_weighting_temperature: 0.5
+  gaussian_mean_momentum: 0.1
+  max_random_shift_ratio: 0.0476
+  reward_coeff: 0.5
+  expectile_weight: 0.9
+  value_coeff: 0.1
+  consistency_coeff: 20.0
+  advantage_scaling: 3.0
+  pi_coeff: 0.5
+  temporal_decay_coeff: 0.5
+  target_model_momentum: 0.995

pretrained_model/model.safetensors

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+oid sha256:c04290f1a030bb8a1441ccc343e4565e3a8f9cb6ca3ee3537042631a6e9cabf6
+size 21456272

training_state.pth

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+oid sha256:a7913780b6fc3db69ab3ed33550306225e22353e84c3ea088dd3ebe30106be99
+size 21529788