Upload folder using huggingface_hub
Browse files- config.json +166 -0
- model.safetensors +3 -0
- policy_postprocessor.json +33 -0
- policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- policy_preprocessor.json +88 -0
- policy_preprocessor_step_2_normalizer_processor.safetensors +3 -0
- train_config.json +476 -0
config.json
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{
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"type": "pi05_rl",
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"n_obs_steps": 1,
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"input_features": {
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"observation.images.side": {
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"type": "VISUAL",
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"shape": [
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3,
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224,
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224
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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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224,
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224
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]
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},
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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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},
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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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"use_peft": false,
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"push_to_hub": true,
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"repo_id": "cijerezg/multi-task-toys-merged-v2",
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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path": null,
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"paligemma_variant": "gemma_2b",
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"action_expert_variant": "gemma_300m",
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"dtype": "bfloat16",
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"chunk_size": 50,
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"n_action_steps": 50,
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"max_state_dim": 6,
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"max_action_dim": 32,
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"num_inference_steps": 5,
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"time_sampling_beta_alpha": 1.5,
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"time_sampling_beta_beta": 1.0,
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"time_sampling_scale": 0.999,
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"time_sampling_offset": 0.001,
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"min_period": 0.004,
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"max_period": 4.0,
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"rtc_config": {
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"enabled": true,
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"prefix_attention_schedule": "LINEAR",
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"max_guidance_weight": 10.0,
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"execution_horizon": 10,
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"debug": false,
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"debug_maxlen": 100
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},
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"image_resolution": [
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224,
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224
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],
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"empty_cameras": 0,
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"use_dataset_stats": false,
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "MIN_MAX",
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"ENV": "MIN_MAX",
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"ACTION": "QUANTILES"
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},
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"action_tokenizer_name": "physical-intelligence/fast",
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"text_tokenizer_name": "google/paligemma-3b-pt-224",
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"max_action_tokens": 256,
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| 82 |
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"fast_skip_tokens": 128,
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"max_decoding_steps": 200,
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| 84 |
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"temperature": 0.0,
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"subtask_regeneration_interval": 1.5,
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"gradient_checkpointing": true,
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"compile_model": false,
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"compile_mode": "max-autotune",
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"freeze_vision_encoder": false,
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"train_expert_only": false,
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"knowledge_insulation": true,
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"action_encoding": "anchor",
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"loss_weight_flow": 1.0,
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"loss_weight_action_ce": 1.0,
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"loss_weight_subtask_ce": 1.0,
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"optimizer_lr": 2.5e-05,
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"optimizer_betas": [
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0.9,
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0.95
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 0.1,
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"optimizer_grad_clip_norm": 1.0,
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"scheduler_warmup_steps": 1000,
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"scheduler_decay_steps": 30000,
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"scheduler_decay_lr": 2.5e-06,
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"tokenizer_max_length": 64,
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"task": "Pick up the orange cube and place it on the black X marker",
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"action_dim": 6,
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"drop_n_last_frames": 2,
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"critic_target_update_weight": 0.005,
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"num_critics": 1,
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"discount": 0.97,
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"reward_normalization_constant": 5.0,
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"terminal_failure_reward": -16.0,
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"online_steps": 20000,
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| 117 |
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"online_buffer_capacity": 5000,
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"offline_buffer_capacity": 50000,
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"async_prefetch": false,
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"online_step_before_learning": 10,
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"policy_update_freq": 1,
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| 122 |
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"grad_clip_norm": 2.0,
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| 123 |
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"gradient_accumulation_steps": 16,
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"critic_lr": 5e-05,
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"actor_lr": 5e-05,
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| 126 |
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"utd_ratio": 1,
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| 127 |
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"actor_device": "cuda:0",
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| 128 |
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"learner_device": "cuda:0",
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| 129 |
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"use_separate_critic": true,
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| 130 |
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"critic_llm_depth": 6,
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| 131 |
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"critic_network_kwargs": {
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| 132 |
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"hidden_dims": [
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| 133 |
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256,
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| 134 |
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256
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],
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| 136 |
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"activate_final": true
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},
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| 138 |
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"trainable_params": {
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| 139 |
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"vision_encoder_from_layer": {
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| 140 |
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"vision_tower": 5,
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| 141 |
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"multi_modal_projector": true
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| 142 |
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},
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| 143 |
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"language_from_layer": 0,
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| 144 |
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"critic_language_from_layer": 5
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},
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| 146 |
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"offline_steps": 10000,
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| 147 |
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"inference_advantage": 1.0,
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| 148 |
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"advantage_scaling": 0.2,
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| 149 |
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"pi05_checkpoint": "outputs/pi05_base",
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| 150 |
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"action_encoding_stats_path": "outputs/stats_jack/action_stats_anchor_jack_cube.pt",
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| 151 |
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"dataset_stats": null,
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| 152 |
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"storage_device": "cpu",
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| 153 |
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"shared_encoder": false,
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| 154 |
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"num_discrete_actions": null,
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| 155 |
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"vision_encoder_name": null,
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| 156 |
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"actor_learner_config": {
|
| 157 |
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"learner_host": "192.168.50.1",
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| 158 |
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"learner_port": 50051,
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| 159 |
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"policy_parameters_push_frequency": 180,
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| 160 |
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"queue_get_timeout": 2
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| 161 |
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},
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| 162 |
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"concurrency": {
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| 163 |
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"actor": "threads",
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"learner": "threads"
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}
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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:fcd85218fb14c4783d7347a974ca2ef3cc2bb7ef6c24b1b9d051282ac7bed6fe
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size 9371429196
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policy_postprocessor.json
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{
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"name": "policy_postprocessor",
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"steps": [
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{
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| 5 |
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"registry_name": "unnormalizer_processor",
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"config": {
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| 7 |
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"eps": 1e-08,
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"features": {
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"action": {
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"type": "ACTION",
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"shape": [
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]
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}
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},
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"norm_map": {
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"VISUAL": "IDENTITY",
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| 18 |
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"STATE": "MIN_MAX",
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| 19 |
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"ENV": "MIN_MAX",
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| 20 |
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"ACTION": "QUANTILES"
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| 21 |
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}
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| 22 |
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},
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| 23 |
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
|
| 24 |
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},
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| 25 |
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{
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| 26 |
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"registry_name": "device_processor",
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| 27 |
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"config": {
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"device": "cpu",
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| 29 |
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"float_dtype": null
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}
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}
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]
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}
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policy_postprocessor_step_0_unnormalizer_processor.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:55c11e62ea79ad9d94d3940555548249042f3c145b7e37a78da5c1fba3d3af3d
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size 14436
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policy_preprocessor.json
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{
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"name": "policy_preprocessor",
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| 3 |
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"steps": [
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| 4 |
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{
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| 5 |
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"registry_name": "rename_observations_processor",
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| 6 |
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"config": {
|
| 7 |
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"rename_map": {}
|
| 8 |
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}
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| 9 |
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},
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| 10 |
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{
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| 11 |
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"registry_name": "to_batch_processor",
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| 12 |
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"config": {}
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| 13 |
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},
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| 14 |
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{
|
| 15 |
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"registry_name": "normalizer_processor",
|
| 16 |
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"config": {
|
| 17 |
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"eps": 1e-08,
|
| 18 |
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"features": {
|
| 19 |
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"observation.images.side": {
|
| 20 |
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"type": "VISUAL",
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| 21 |
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"shape": [
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3,
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224,
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224
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]
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| 26 |
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},
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| 27 |
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"observation.images.top": {
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| 28 |
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"type": "VISUAL",
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| 29 |
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"shape": [
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| 30 |
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3,
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| 31 |
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224,
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| 32 |
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224
|
| 33 |
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]
|
| 34 |
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},
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| 35 |
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"observation.state": {
|
| 36 |
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"type": "STATE",
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| 37 |
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"shape": [
|
| 38 |
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6
|
| 39 |
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]
|
| 40 |
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},
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| 41 |
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"action": {
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| 42 |
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"type": "ACTION",
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| 43 |
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"shape": [
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| 45 |
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]
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| 46 |
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}
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| 47 |
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},
|
| 48 |
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"norm_map": {
|
| 49 |
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"VISUAL": "IDENTITY",
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| 50 |
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"STATE": "MIN_MAX",
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| 51 |
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"ENV": "MIN_MAX",
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| 52 |
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"ACTION": "QUANTILES"
|
| 53 |
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}
|
| 54 |
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},
|
| 55 |
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"state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
|
| 56 |
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},
|
| 57 |
+
{
|
| 58 |
+
"registry_name": "pi05_full_prepare_state_tokenizer_processor_step",
|
| 59 |
+
"config": {}
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"registry_name": "tokenizer_processor",
|
| 63 |
+
"config": {
|
| 64 |
+
"max_length": 64,
|
| 65 |
+
"task_key": "task",
|
| 66 |
+
"padding_side": "right",
|
| 67 |
+
"padding": "max_length",
|
| 68 |
+
"truncation": true,
|
| 69 |
+
"tokenizer_name": "google/paligemma-3b-pt-224"
|
| 70 |
+
}
|
| 71 |
+
},
|
| 72 |
+
{
|
| 73 |
+
"registry_name": "action_tokenizer_processor",
|
| 74 |
+
"config": {
|
| 75 |
+
"trust_remote_code": true,
|
| 76 |
+
"max_action_tokens": 256,
|
| 77 |
+
"action_tokenizer_name": "physical-intelligence/fast"
|
| 78 |
+
}
|
| 79 |
+
},
|
| 80 |
+
{
|
| 81 |
+
"registry_name": "device_processor",
|
| 82 |
+
"config": {
|
| 83 |
+
"device": "cuda",
|
| 84 |
+
"float_dtype": null
|
| 85 |
+
}
|
| 86 |
+
}
|
| 87 |
+
]
|
| 88 |
+
}
|
policy_preprocessor_step_2_normalizer_processor.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:55c11e62ea79ad9d94d3940555548249042f3c145b7e37a78da5c1fba3d3af3d
|
| 3 |
+
size 14436
|
train_config.json
ADDED
|
@@ -0,0 +1,476 @@
|
|
|
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|
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|
|
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|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"dataset": {
|
| 3 |
+
"repo_id": "cijerezg/yellow-car-offline-training-v2",
|
| 4 |
+
"root": "outputs/jack_cube",
|
| 5 |
+
"episodes": null,
|
| 6 |
+
"max_episodes": null,
|
| 7 |
+
"image_transforms": {
|
| 8 |
+
"enable": false,
|
| 9 |
+
"max_num_transforms": 3,
|
| 10 |
+
"random_order": false,
|
| 11 |
+
"tfs": {
|
| 12 |
+
"brightness": {
|
| 13 |
+
"weight": 1.0,
|
| 14 |
+
"type": "ColorJitter",
|
| 15 |
+
"kwargs": {
|
| 16 |
+
"brightness": [
|
| 17 |
+
0.8,
|
| 18 |
+
1.2
|
| 19 |
+
]
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
+
"contrast": {
|
| 23 |
+
"weight": 1.0,
|
| 24 |
+
"type": "ColorJitter",
|
| 25 |
+
"kwargs": {
|
| 26 |
+
"contrast": [
|
| 27 |
+
0.8,
|
| 28 |
+
1.2
|
| 29 |
+
]
|
| 30 |
+
}
|
| 31 |
+
},
|
| 32 |
+
"saturation": {
|
| 33 |
+
"weight": 1.0,
|
| 34 |
+
"type": "ColorJitter",
|
| 35 |
+
"kwargs": {
|
| 36 |
+
"saturation": [
|
| 37 |
+
0.5,
|
| 38 |
+
1.5
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"hue": {
|
| 43 |
+
"weight": 1.0,
|
| 44 |
+
"type": "ColorJitter",
|
| 45 |
+
"kwargs": {
|
| 46 |
+
"hue": [
|
| 47 |
+
-0.05,
|
| 48 |
+
0.05
|
| 49 |
+
]
|
| 50 |
+
}
|
| 51 |
+
},
|
| 52 |
+
"sharpness": {
|
| 53 |
+
"weight": 1.0,
|
| 54 |
+
"type": "SharpnessJitter",
|
| 55 |
+
"kwargs": {
|
| 56 |
+
"sharpness": [
|
| 57 |
+
0.5,
|
| 58 |
+
1.5
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"affine": {
|
| 63 |
+
"weight": 1.0,
|
| 64 |
+
"type": "RandomAffine",
|
| 65 |
+
"kwargs": {
|
| 66 |
+
"degrees": [
|
| 67 |
+
-5.0,
|
| 68 |
+
5.0
|
| 69 |
+
],
|
| 70 |
+
"translate": [
|
| 71 |
+
0.05,
|
| 72 |
+
0.05
|
| 73 |
+
]
|
| 74 |
+
}
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"revision": null,
|
| 79 |
+
"use_imagenet_stats": false,
|
| 80 |
+
"video_backend": "pyav",
|
| 81 |
+
"return_uint8": false,
|
| 82 |
+
"streaming": false,
|
| 83 |
+
"additional_offline_dataset_paths": []
|
| 84 |
+
},
|
| 85 |
+
"env": {
|
| 86 |
+
"type": "gym_manipulator",
|
| 87 |
+
"task": "Pick up the red truck and put it in the bowl",
|
| 88 |
+
"fps": 30,
|
| 89 |
+
"features": {
|
| 90 |
+
"observation.images.side": {
|
| 91 |
+
"type": "VISUAL",
|
| 92 |
+
"shape": [
|
| 93 |
+
3,
|
| 94 |
+
128,
|
| 95 |
+
128
|
| 96 |
+
]
|
| 97 |
+
},
|
| 98 |
+
"observation.images.top": {
|
| 99 |
+
"type": "VISUAL",
|
| 100 |
+
"shape": [
|
| 101 |
+
3,
|
| 102 |
+
128,
|
| 103 |
+
128
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
"observation.state": {
|
| 107 |
+
"type": "STATE",
|
| 108 |
+
"shape": [
|
| 109 |
+
6
|
| 110 |
+
]
|
| 111 |
+
},
|
| 112 |
+
"action": {
|
| 113 |
+
"type": "ACTION",
|
| 114 |
+
"shape": [
|
| 115 |
+
6
|
| 116 |
+
]
|
| 117 |
+
}
|
| 118 |
+
},
|
| 119 |
+
"features_map": {
|
| 120 |
+
"observation.images.side": "observation.images.side",
|
| 121 |
+
"observation.images.top": "observation.images.top",
|
| 122 |
+
"observation.state": "observation.state",
|
| 123 |
+
"action": "action"
|
| 124 |
+
},
|
| 125 |
+
"max_parallel_tasks": 1,
|
| 126 |
+
"disable_env_checker": true,
|
| 127 |
+
"robot": {
|
| 128 |
+
"type": "so100_follower",
|
| 129 |
+
"port": "/dev/ttyACM0",
|
| 130 |
+
"disable_torque_on_disconnect": true,
|
| 131 |
+
"max_relative_target": null,
|
| 132 |
+
"cameras": {
|
| 133 |
+
"side": {
|
| 134 |
+
"type": "opencv",
|
| 135 |
+
"fps": 30,
|
| 136 |
+
"width": 640,
|
| 137 |
+
"height": 480,
|
| 138 |
+
"index_or_path": 0,
|
| 139 |
+
"color_mode": "rgb",
|
| 140 |
+
"rotation": 0,
|
| 141 |
+
"warmup_s": 1,
|
| 142 |
+
"fourcc": null,
|
| 143 |
+
"backend": 0
|
| 144 |
+
},
|
| 145 |
+
"top": {
|
| 146 |
+
"type": "opencv",
|
| 147 |
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"fps": 30,
|
| 148 |
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"width": 640,
|
| 149 |
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"height": 480,
|
| 150 |
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"index_or_path": 2,
|
| 151 |
+
"color_mode": "rgb",
|
| 152 |
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"rotation": 0,
|
| 153 |
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"warmup_s": 1,
|
| 154 |
+
"fourcc": null,
|
| 155 |
+
"backend": 0
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"use_degrees": true,
|
| 159 |
+
"id": "follower_arm_v2",
|
| 160 |
+
"calibration_dir": null
|
| 161 |
+
},
|
| 162 |
+
"teleop": {
|
| 163 |
+
"type": "so100_leader",
|
| 164 |
+
"port": "/dev/ttyACM1",
|
| 165 |
+
"use_degrees": true,
|
| 166 |
+
"id": "leader_arm_v2",
|
| 167 |
+
"calibration_dir": null
|
| 168 |
+
},
|
| 169 |
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