Flimdejong commited on
Commit
64b84aa
·
verified ·
1 Parent(s): e08c837

Upload folder using huggingface_hub

Browse files
config.json ADDED
@@ -0,0 +1,97 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "smolvla",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 6
9
+ ]
10
+ },
11
+ "observation.images.camera1": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 256,
16
+ 256
17
+ ]
18
+ },
19
+ "observation.images.camera2": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 256,
24
+ 256
25
+ ]
26
+ },
27
+ "observation.images.camera3": {
28
+ "type": "VISUAL",
29
+ "shape": [
30
+ 3,
31
+ 256,
32
+ 256
33
+ ]
34
+ }
35
+ },
36
+ "output_features": {
37
+ "action": {
38
+ "type": "ACTION",
39
+ "shape": [
40
+ 6
41
+ ]
42
+ }
43
+ },
44
+ "device": "cuda",
45
+ "use_amp": false,
46
+ "push_to_hub": true,
47
+ "repo_id": "smolvla_block_or_pen",
48
+ "private": null,
49
+ "tags": null,
50
+ "license": null,
51
+ "pretrained_path": "cijerezg/smolvla-test",
52
+ "chunk_size": 50,
53
+ "n_action_steps": 50,
54
+ "normalization_mapping": {
55
+ "VISUAL": "IDENTITY",
56
+ "STATE": "MEAN_STD",
57
+ "ACTION": "MEAN_STD"
58
+ },
59
+ "max_state_dim": 32,
60
+ "max_action_dim": 32,
61
+ "resize_imgs_with_padding": [
62
+ 512,
63
+ 512
64
+ ],
65
+ "empty_cameras": 0,
66
+ "adapt_to_pi_aloha": false,
67
+ "use_delta_joint_actions_aloha": false,
68
+ "tokenizer_max_length": 48,
69
+ "num_steps": 10,
70
+ "use_cache": true,
71
+ "freeze_vision_encoder": true,
72
+ "train_expert_only": true,
73
+ "train_state_proj": true,
74
+ "optimizer_lr": 0.0001,
75
+ "optimizer_betas": [
76
+ 0.9,
77
+ 0.95
78
+ ],
79
+ "optimizer_eps": 1e-08,
80
+ "optimizer_weight_decay": 1e-10,
81
+ "optimizer_grad_clip_norm": 10.0,
82
+ "scheduler_warmup_steps": 1000,
83
+ "scheduler_decay_steps": 30000,
84
+ "scheduler_decay_lr": 2.5e-06,
85
+ "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
86
+ "load_vlm_weights": true,
87
+ "add_image_special_tokens": false,
88
+ "attention_mode": "cross_attn",
89
+ "prefix_length": 0,
90
+ "pad_language_to": "max_length",
91
+ "num_expert_layers": 0,
92
+ "num_vlm_layers": 16,
93
+ "self_attn_every_n_layers": 2,
94
+ "expert_width_multiplier": 0.75,
95
+ "min_period": 0.004,
96
+ "max_period": 4.0
97
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:89a0437844e3f157d86a9734c415a04a9615940f062eda00dd98f6e05b33a951
3
+ size 906712520
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": "IDENTITY",
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
+ }
policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0c37f13952505801c6f0b60df5a41a584c2952022b764aa284df40ed9c81eecf
3
+ size 7552
policy_preprocessor.json ADDED
@@ -0,0 +1,90 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {
8
+ "observation.images.gripper": "observation.images.camera1",
9
+ "observation.images.top": "observation.images.camera2"
10
+ }
11
+ }
12
+ },
13
+ {
14
+ "registry_name": "to_batch_processor",
15
+ "config": {}
16
+ },
17
+ {
18
+ "registry_name": "smolvla_new_line_processor",
19
+ "config": {}
20
+ },
21
+ {
22
+ "registry_name": "tokenizer_processor",
23
+ "config": {
24
+ "max_length": 48,
25
+ "task_key": "task",
26
+ "padding_side": "right",
27
+ "padding": "max_length",
28
+ "truncation": true,
29
+ "tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct"
30
+ }
31
+ },
32
+ {
33
+ "registry_name": "device_processor",
34
+ "config": {
35
+ "device": "cuda",
36
+ "float_dtype": null
37
+ }
38
+ },
39
+ {
40
+ "registry_name": "normalizer_processor",
41
+ "config": {
42
+ "eps": 1e-08,
43
+ "features": {
44
+ "observation.state": {
45
+ "type": "STATE",
46
+ "shape": [
47
+ 6
48
+ ]
49
+ },
50
+ "observation.images.camera1": {
51
+ "type": "VISUAL",
52
+ "shape": [
53
+ 3,
54
+ 256,
55
+ 256
56
+ ]
57
+ },
58
+ "observation.images.camera2": {
59
+ "type": "VISUAL",
60
+ "shape": [
61
+ 3,
62
+ 256,
63
+ 256
64
+ ]
65
+ },
66
+ "observation.images.camera3": {
67
+ "type": "VISUAL",
68
+ "shape": [
69
+ 3,
70
+ 256,
71
+ 256
72
+ ]
73
+ },
74
+ "action": {
75
+ "type": "ACTION",
76
+ "shape": [
77
+ 6
78
+ ]
79
+ }
80
+ },
81
+ "norm_map": {
82
+ "VISUAL": "IDENTITY",
83
+ "STATE": "MEAN_STD",
84
+ "ACTION": "MEAN_STD"
85
+ }
86
+ },
87
+ "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
88
+ }
89
+ ]
90
+ }
policy_preprocessor_step_5_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0c37f13952505801c6f0b60df5a41a584c2952022b764aa284df40ed9c81eecf
3
+ size 7552
train_config.json ADDED
@@ -0,0 +1,229 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "Flimdejong/block_or_pen",
4
+ "root": "/root/datasets/block_or_pen",
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": "smolvla",
85
+ "n_obs_steps": 1,
86
+ "input_features": {
87
+ "observation.state": {
88
+ "type": "STATE",
89
+ "shape": [
90
+ 6
91
+ ]
92
+ },
93
+ "observation.images.camera1": {
94
+ "type": "VISUAL",
95
+ "shape": [
96
+ 3,
97
+ 256,
98
+ 256
99
+ ]
100
+ },
101
+ "observation.images.camera2": {
102
+ "type": "VISUAL",
103
+ "shape": [
104
+ 3,
105
+ 256,
106
+ 256
107
+ ]
108
+ },
109
+ "observation.images.camera3": {
110
+ "type": "VISUAL",
111
+ "shape": [
112
+ 3,
113
+ 256,
114
+ 256
115
+ ]
116
+ }
117
+ },
118
+ "output_features": {
119
+ "action": {
120
+ "type": "ACTION",
121
+ "shape": [
122
+ 6
123
+ ]
124
+ }
125
+ },
126
+ "device": "cuda",
127
+ "use_amp": false,
128
+ "push_to_hub": true,
129
+ "repo_id": "smolvla_block_or_pen",
130
+ "private": null,
131
+ "tags": null,
132
+ "license": null,
133
+ "pretrained_path": "cijerezg/smolvla-test",
134
+ "chunk_size": 50,
135
+ "n_action_steps": 50,
136
+ "normalization_mapping": {
137
+ "VISUAL": "IDENTITY",
138
+ "STATE": "MEAN_STD",
139
+ "ACTION": "MEAN_STD"
140
+ },
141
+ "max_state_dim": 32,
142
+ "max_action_dim": 32,
143
+ "resize_imgs_with_padding": [
144
+ 512,
145
+ 512
146
+ ],
147
+ "empty_cameras": 0,
148
+ "adapt_to_pi_aloha": false,
149
+ "use_delta_joint_actions_aloha": false,
150
+ "tokenizer_max_length": 48,
151
+ "num_steps": 10,
152
+ "use_cache": true,
153
+ "freeze_vision_encoder": true,
154
+ "train_expert_only": true,
155
+ "train_state_proj": true,
156
+ "optimizer_lr": 0.0001,
157
+ "optimizer_betas": [
158
+ 0.9,
159
+ 0.95
160
+ ],
161
+ "optimizer_eps": 1e-08,
162
+ "optimizer_weight_decay": 1e-10,
163
+ "optimizer_grad_clip_norm": 10.0,
164
+ "scheduler_warmup_steps": 1000,
165
+ "scheduler_decay_steps": 30000,
166
+ "scheduler_decay_lr": 2.5e-06,
167
+ "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
168
+ "load_vlm_weights": true,
169
+ "add_image_special_tokens": false,
170
+ "attention_mode": "cross_attn",
171
+ "prefix_length": 0,
172
+ "pad_language_to": "max_length",
173
+ "num_expert_layers": 0,
174
+ "num_vlm_layers": 16,
175
+ "self_attn_every_n_layers": 2,
176
+ "expert_width_multiplier": 0.75,
177
+ "min_period": 0.004,
178
+ "max_period": 4.0
179
+ },
180
+ "output_dir": "outputs/train/smolvla_block_or_pen",
181
+ "job_name": "smolvla_vast",
182
+ "resume": false,
183
+ "seed": 1000,
184
+ "num_workers": 4,
185
+ "batch_size": 64,
186
+ "steps": 40000,
187
+ "eval_freq": 20000,
188
+ "log_freq": 200,
189
+ "save_checkpoint": true,
190
+ "save_freq": 20000,
191
+ "use_policy_training_preset": true,
192
+ "optimizer": {
193
+ "type": "adamw",
194
+ "lr": 0.0001,
195
+ "weight_decay": 1e-10,
196
+ "grad_clip_norm": 10.0,
197
+ "betas": [
198
+ 0.9,
199
+ 0.95
200
+ ],
201
+ "eps": 1e-08
202
+ },
203
+ "scheduler": {
204
+ "type": "cosine_decay_with_warmup",
205
+ "num_warmup_steps": 1000,
206
+ "num_decay_steps": 30000,
207
+ "peak_lr": 0.0001,
208
+ "decay_lr": 2.5e-06
209
+ },
210
+ "eval": {
211
+ "n_episodes": 50,
212
+ "batch_size": 50,
213
+ "use_async_envs": false
214
+ },
215
+ "wandb": {
216
+ "enable": true,
217
+ "disable_artifact": false,
218
+ "project": "lerobot",
219
+ "entity": null,
220
+ "notes": null,
221
+ "run_id": "7y00twk9",
222
+ "mode": null
223
+ },
224
+ "checkpoint_path": null,
225
+ "rename_map": {
226
+ "observation.images.gripper": "observation.images.camera1",
227
+ "observation.images.top": "observation.images.camera2"
228
+ }
229
+ }