Hugging Face's logo

Datasets:
jccj
/
mh2_ckp_step_2_with_reward

Dataset card Files
xet
Community
jccj commited on
Commit
d80464c
·
verified ·
1 Parent(s): f5cde33

Upload folder using huggingface_hub

Browse files
Files changed (38) hide show
  1. 105000/pretrained_model/config.json +93 -0
  2. 105000/pretrained_model/dataset_info.json +247 -0
  3. 105000/pretrained_model/model.safetensors +3 -0
  4. 105000/pretrained_model/train_config.json +256 -0
  5. 105000/training_state/optimizer_param_groups.json +191 -0
  6. 105000/training_state/optimizer_state.safetensors +3 -0
  7. 105000/training_state/rng_state.safetensors +3 -0
  8. 105000/training_state/training_step.json +3 -0
  9. 110000/pretrained_model/config.json +93 -0
  10. 110000/pretrained_model/dataset_info.json +247 -0
  11. 110000/pretrained_model/model.safetensors +3 -0
  12. 110000/pretrained_model/train_config.json +256 -0
  13. 110000/training_state/optimizer_param_groups.json +191 -0
  14. 110000/training_state/optimizer_state.safetensors +3 -0
  15. 110000/training_state/rng_state.safetensors +3 -0
  16. 110000/training_state/training_step.json +3 -0
  17. 115000/pretrained_model/config.json +93 -0
  18. 115000/pretrained_model/dataset_info.json +247 -0
  19. 115000/pretrained_model/model.safetensors +3 -0
  20. 115000/pretrained_model/train_config.json +256 -0
  21. 115000/training_state/optimizer_param_groups.json +191 -0
  22. 115000/training_state/optimizer_state.safetensors +3 -0
  23. 115000/training_state/rng_state.safetensors +3 -0
  24. 115000/training_state/training_step.json +3 -0
  25. 120000/pretrained_model/config.json +93 -0
  26. 120000/pretrained_model/dataset_info.json +247 -0
  27. 120000/pretrained_model/model.safetensors +3 -0
  28. 120000/pretrained_model/train_config.json +256 -0
  29. 120000/training_state/optimizer_param_groups.json +191 -0
  30. 120000/training_state/optimizer_state.safetensors +3 -0
  31. 120000/training_state/rng_state.safetensors +3 -0
  32. 120000/training_state/training_step.json +3 -0
  33. 125000/pretrained_model/config.json +93 -0
  34. 125000/pretrained_model/model.safetensors +3 -0
  35. 125000/pretrained_model/train_config.json +256 -0
  36. 125000/training_state/optimizer_state.safetensors +3 -0
  37. 125000/training_state/rng_state.safetensors +3 -0
  38. 125000/training_state/training_step.json +3 -0
105000/pretrained_model/config.json ADDED
@@ -0,0 +1,93 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "normalization_mapping": {
5
+ "VISUAL": "MEAN_STD",
6
+ "STATE": "MEAN_STD",
7
+ "ACTION": "MEAN_STD"
8
+ },
9
+ "input_features": {
10
+ "observation.state": {
11
+ "type": "STATE",
12
+ "shape": [
13
+ 46
14
+ ]
15
+ },
16
+ "observation.images.rgb_static": {
17
+ "type": "VISUAL",
18
+ "shape": [
19
+ 3,
20
+ 512,
21
+ 512
22
+ ]
23
+ },
24
+ "observation.images.rgb_left": {
25
+ "type": "VISUAL",
26
+ "shape": [
27
+ 3,
28
+ 512,
29
+ 512
30
+ ]
31
+ },
32
+ "observation.images.rgb_right": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 512,
37
+ 512
38
+ ]
39
+ },
40
+ "observation.images.depth_left": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 512,
45
+ 512
46
+ ]
47
+ },
48
+ "observation.images.depth_right": {
49
+ "type": "VISUAL",
50
+ "shape": [
51
+ 3,
52
+ 512,
53
+ 512
54
+ ]
55
+ }
56
+ },
57
+ "output_features": {
58
+ "action": {
59
+ "type": "ACTION",
60
+ "shape": [
61
+ 17
62
+ ]
63
+ }
64
+ },
65
+ "device": "cuda",
66
+ "use_amp": false,
67
+ "push_to_hub": false,
68
+ "repo_id": null,
69
+ "private": null,
70
+ "tags": null,
71
+ "license": null,
72
+ "chunk_size": 50,
73
+ "n_action_steps": 10,
74
+ "vision_backbone": "resnet18",
75
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
76
+ "replace_final_stride_with_dilation": false,
77
+ "pre_norm": false,
78
+ "dim_model": 512,
79
+ "n_heads": 8,
80
+ "dim_feedforward": 3200,
81
+ "feedforward_activation": "relu",
82
+ "n_encoder_layers": 4,
83
+ "n_decoder_layers": 1,
84
+ "use_vae": true,
85
+ "latent_dim": 32,
86
+ "n_vae_encoder_layers": 4,
87
+ "temporal_ensemble_coeff": null,
88
+ "dropout": 0.1,
89
+ "kl_weight": 10.0,
90
+ "optimizer_lr": 2e-05,
91
+ "optimizer_weight_decay": 0.0001,
92
+ "optimizer_lr_backbone": 2e-05
93
+ }
105000/pretrained_model/dataset_info.json ADDED
@@ -0,0 +1,247 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": null,
4
+ "total_episodes": 56,
5
+ "total_frames": 9103,
6
+ "total_tasks": 1,
7
+ "total_videos": 280,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 10,
11
+ "splits": {
12
+ "train": "0:56"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 46
21
+ ],
22
+ "names": [
23
+ "joint_pos_left_0",
24
+ "joint_pos_left_1",
25
+ "joint_pos_left_2",
26
+ "joint_pos_left_3",
27
+ "joint_pos_left_4",
28
+ "joint_pos_left_5",
29
+ "joint_pos_left_6",
30
+ "joint_pos_right_0",
31
+ "joint_pos_right_1",
32
+ "joint_pos_right_2",
33
+ "joint_pos_right_3",
34
+ "joint_pos_right_4",
35
+ "joint_pos_right_5",
36
+ "joint_pos_right_6",
37
+ "tcp_left_pos_x",
38
+ "tcp_left_pos_y",
39
+ "tcp_left_pos_z",
40
+ "tcp_left_quat_x",
41
+ "tcp_left_quat_y",
42
+ "tcp_left_quat_z",
43
+ "tcp_left_quat_w",
44
+ "tcp_right_pos_x",
45
+ "tcp_right_pos_y",
46
+ "tcp_right_pos_z",
47
+ "tcp_right_quat_x",
48
+ "tcp_right_quat_y",
49
+ "tcp_right_quat_z",
50
+ "tcp_right_quat_w",
51
+ "gripper_left_0",
52
+ "gripper_left_1",
53
+ "gripper_right_0",
54
+ "gripper_right_1",
55
+ "last_command_left_0",
56
+ "last_command_left_1",
57
+ "last_command_left_2",
58
+ "last_command_left_3",
59
+ "last_command_left_4",
60
+ "last_command_left_5",
61
+ "last_command_left_6",
62
+ "last_command_right_0",
63
+ "last_command_right_1",
64
+ "last_command_right_2",
65
+ "last_command_right_3",
66
+ "last_command_right_4",
67
+ "last_command_right_5",
68
+ "last_command_right_6"
69
+ ]
70
+ },
71
+ "action": {
72
+ "dtype": "float32",
73
+ "shape": [
74
+ 17
75
+ ],
76
+ "names": [
77
+ "tcp_left_x",
78
+ "tcp_left_y",
79
+ "tcp_left_z",
80
+ "tcp_left_quat_x",
81
+ "tcp_left_quat_y",
82
+ "tcp_left_quat_z",
83
+ "tcp_left_quat_w",
84
+ "tcp_right_x",
85
+ "tcp_right_y",
86
+ "tcp_right_z",
87
+ "tcp_right_quat_x",
88
+ "tcp_right_quat_y",
89
+ "tcp_right_quat_z",
90
+ "tcp_right_quat_w",
91
+ "gripper_left",
92
+ "gripper_right",
93
+ "reward"
94
+ ]
95
+ },
96
+ "observation.images.rgb_static": {
97
+ "dtype": "video",
98
+ "shape": [
99
+ 512,
100
+ 512,
101
+ 3
102
+ ],
103
+ "names": [
104
+ "height",
105
+ "width",
106
+ "channel"
107
+ ],
108
+ "info": {
109
+ "video.height": 512,
110
+ "video.width": 512,
111
+ "video.codec": "av1",
112
+ "video.pix_fmt": "yuv420p",
113
+ "video.is_depth_map": false,
114
+ "video.fps": 10,
115
+ "video.channels": 3,
116
+ "has_audio": false
117
+ }
118
+ },
119
+ "observation.images.rgb_left": {
120
+ "dtype": "video",
121
+ "shape": [
122
+ 512,
123
+ 512,
124
+ 3
125
+ ],
126
+ "names": [
127
+ "height",
128
+ "width",
129
+ "channel"
130
+ ],
131
+ "info": {
132
+ "video.height": 512,
133
+ "video.width": 512,
134
+ "video.codec": "av1",
135
+ "video.pix_fmt": "yuv420p",
136
+ "video.is_depth_map": false,
137
+ "video.fps": 10,
138
+ "video.channels": 3,
139
+ "has_audio": false
140
+ }
141
+ },
142
+ "observation.images.rgb_right": {
143
+ "dtype": "video",
144
+ "shape": [
145
+ 512,
146
+ 512,
147
+ 3
148
+ ],
149
+ "names": [
150
+ "height",
151
+ "width",
152
+ "channel"
153
+ ],
154
+ "info": {
155
+ "video.height": 512,
156
+ "video.width": 512,
157
+ "video.codec": "av1",
158
+ "video.pix_fmt": "yuv420p",
159
+ "video.is_depth_map": false,
160
+ "video.fps": 10,
161
+ "video.channels": 3,
162
+ "has_audio": false
163
+ }
164
+ },
165
+ "observation.images.depth_left": {
166
+ "dtype": "video",
167
+ "shape": [
168
+ 512,
169
+ 512,
170
+ 3
171
+ ],
172
+ "names": [
173
+ "height",
174
+ "width",
175
+ "channel"
176
+ ],
177
+ "info": {
178
+ "video.height": 512,
179
+ "video.width": 512,
180
+ "video.codec": "av1",
181
+ "video.pix_fmt": "yuv420p",
182
+ "video.is_depth_map": false,
183
+ "video.fps": 10,
184
+ "video.channels": 3,
185
+ "has_audio": false
186
+ }
187
+ },
188
+ "observation.images.depth_right": {
189
+ "dtype": "video",
190
+ "shape": [
191
+ 512,
192
+ 512,
193
+ 3
194
+ ],
195
+ "names": [
196
+ "height",
197
+ "width",
198
+ "channel"
199
+ ],
200
+ "info": {
201
+ "video.height": 512,
202
+ "video.width": 512,
203
+ "video.codec": "av1",
204
+ "video.pix_fmt": "yuv420p",
205
+ "video.is_depth_map": false,
206
+ "video.fps": 10,
207
+ "video.channels": 3,
208
+ "has_audio": false
209
+ }
210
+ },
211
+ "timestamp": {
212
+ "dtype": "float32",
213
+ "shape": [
214
+ 1
215
+ ],
216
+ "names": null
217
+ },
218
+ "frame_index": {
219
+ "dtype": "int64",
220
+ "shape": [
221
+ 1
222
+ ],
223
+ "names": null
224
+ },
225
+ "episode_index": {
226
+ "dtype": "int64",
227
+ "shape": [
228
+ 1
229
+ ],
230
+ "names": null
231
+ },
232
+ "index": {
233
+ "dtype": "int64",
234
+ "shape": [
235
+ 1
236
+ ],
237
+ "names": null
238
+ },
239
+ "task_index": {
240
+ "dtype": "int64",
241
+ "shape": [
242
+ 1
243
+ ],
244
+ "names": null
245
+ }
246
+ }
247
+ }
105000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ae710141ad34190a740178ea031155bdbcd02cc9106e397aeca6966f127d0563
3
+ size 206706596
105000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,256 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "step_2_with_reward",
4
+ "root": "data/lerobot/step_2_with_reward",
5
+ "episodes": [
6
+ 0,
7
+ 1,
8
+ 2,
9
+ 3,
10
+ 4,
11
+ 5,
12
+ 6,
13
+ 7,
14
+ 8,
15
+ 9,
16
+ 10,
17
+ 11,
18
+ 12,
19
+ 13,
20
+ 14,
21
+ 15,
22
+ 16,
23
+ 17,
24
+ 18,
25
+ 19,
26
+ 20,
27
+ 21,
28
+ 22,
29
+ 23,
30
+ 24,
31
+ 25,
32
+ 26,
33
+ 27,
34
+ 28,
35
+ 29,
36
+ 30,
37
+ 31,
38
+ 32,
39
+ 33,
40
+ 34,
41
+ 35,
42
+ 36,
43
+ 37,
44
+ 38,
45
+ 39,
46
+ 40,
47
+ 41,
48
+ 42,
49
+ 43,
50
+ 44,
51
+ 45,
52
+ 46,
53
+ 47,
54
+ 48,
55
+ 49,
56
+ 50,
57
+ 51,
58
+ 52,
59
+ 53,
60
+ 54,
61
+ 55
62
+ ],
63
+ "image_transforms": {
64
+ "enable": false,
65
+ "max_num_transforms": 3,
66
+ "random_order": false,
67
+ "tfs": {
68
+ "brightness": {
69
+ "weight": 1.0,
70
+ "type": "ColorJitter",
71
+ "kwargs": {
72
+ "brightness": [
73
+ 0.8,
74
+ 1.2
75
+ ]
76
+ }
77
+ },
78
+ "contrast": {
79
+ "weight": 1.0,
80
+ "type": "ColorJitter",
81
+ "kwargs": {
82
+ "contrast": [
83
+ 0.8,
84
+ 1.2
85
+ ]
86
+ }
87
+ },
88
+ "saturation": {
89
+ "weight": 1.0,
90
+ "type": "ColorJitter",
91
+ "kwargs": {
92
+ "saturation": [
93
+ 0.5,
94
+ 1.5
95
+ ]
96
+ }
97
+ },
98
+ "hue": {
99
+ "weight": 1.0,
100
+ "type": "ColorJitter",
101
+ "kwargs": {
102
+ "hue": [
103
+ -0.05,
104
+ 0.05
105
+ ]
106
+ }
107
+ },
108
+ "sharpness": {
109
+ "weight": 1.0,
110
+ "type": "SharpnessJitter",
111
+ "kwargs": {
112
+ "sharpness": [
113
+ 0.5,
114
+ 1.5
115
+ ]
116
+ }
117
+ }
118
+ }
119
+ },
120
+ "revision": null,
121
+ "use_imagenet_stats": true,
122
+ "video_backend": "torchcodec"
123
+ },
124
+ "env": null,
125
+ "policy": {
126
+ "type": "act",
127
+ "n_obs_steps": 1,
128
+ "normalization_mapping": {
129
+ "VISUAL": "MEAN_STD",
130
+ "STATE": "MEAN_STD",
131
+ "ACTION": "MEAN_STD"
132
+ },
133
+ "input_features": {
134
+ "observation.state": {
135
+ "type": "STATE",
136
+ "shape": [
137
+ 46
138
+ ]
139
+ },
140
+ "observation.images.rgb_static": {
141
+ "type": "VISUAL",
142
+ "shape": [
143
+ 3,
144
+ 512,
145
+ 512
146
+ ]
147
+ },
148
+ "observation.images.rgb_left": {
149
+ "type": "VISUAL",
150
+ "shape": [
151
+ 3,
152
+ 512,
153
+ 512
154
+ ]
155
+ },
156
+ "observation.images.rgb_right": {
157
+ "type": "VISUAL",
158
+ "shape": [
159
+ 3,
160
+ 512,
161
+ 512
162
+ ]
163
+ },
164
+ "observation.images.depth_left": {
165
+ "type": "VISUAL",
166
+ "shape": [
167
+ 3,
168
+ 512,
169
+ 512
170
+ ]
171
+ },
172
+ "observation.images.depth_right": {
173
+ "type": "VISUAL",
174
+ "shape": [
175
+ 3,
176
+ 512,
177
+ 512
178
+ ]
179
+ }
180
+ },
181
+ "output_features": {
182
+ "action": {
183
+ "type": "ACTION",
184
+ "shape": [
185
+ 17
186
+ ]
187
+ }
188
+ },
189
+ "device": "cuda",
190
+ "use_amp": false,
191
+ "push_to_hub": false,
192
+ "repo_id": null,
193
+ "private": null,
194
+ "tags": null,
195
+ "license": null,
196
+ "chunk_size": 50,
197
+ "n_action_steps": 10,
198
+ "vision_backbone": "resnet18",
199
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
200
+ "replace_final_stride_with_dilation": false,
201
+ "pre_norm": false,
202
+ "dim_model": 512,
203
+ "n_heads": 8,
204
+ "dim_feedforward": 3200,
205
+ "feedforward_activation": "relu",
206
+ "n_encoder_layers": 4,
207
+ "n_decoder_layers": 1,
208
+ "use_vae": true,
209
+ "latent_dim": 32,
210
+ "n_vae_encoder_layers": 4,
211
+ "temporal_ensemble_coeff": null,
212
+ "dropout": 0.1,
213
+ "kl_weight": 10.0,
214
+ "optimizer_lr": 2e-05,
215
+ "optimizer_weight_decay": 0.0001,
216
+ "optimizer_lr_backbone": 2e-05
217
+ },
218
+ "output_dir": "outputs/train/2025-09-20/11-09-50_act",
219
+ "job_name": "act",
220
+ "resume": false,
221
+ "seed": 1000,
222
+ "num_workers": 4,
223
+ "batch_size": 16,
224
+ "steps": 800000,
225
+ "eval_freq": 20000,
226
+ "log_freq": 200,
227
+ "save_checkpoint": true,
228
+ "save_freq": 5000,
229
+ "use_policy_training_preset": true,
230
+ "optimizer": {
231
+ "type": "adamw",
232
+ "lr": 2e-05,
233
+ "weight_decay": 0.0001,
234
+ "grad_clip_norm": 10.0,
235
+ "betas": [
236
+ 0.9,
237
+ 0.999
238
+ ],
239
+ "eps": 1e-08
240
+ },
241
+ "scheduler": null,
242
+ "eval": {
243
+ "n_episodes": 50,
244
+ "batch_size": 50,
245
+ "use_async_envs": false
246
+ },
247
+ "wandb": {
248
+ "enable": true,
249
+ "disable_artifact": false,
250
+ "project": "lerobot",
251
+ "entity": null,
252
+ "notes": null,
253
+ "run_id": "0ct05thy",
254
+ "mode": null
255
+ }
256
+ }
105000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "lr": 2e-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": 2e-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
+ ]
105000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8afb868d647a3f17155387bbeb9282cbf2f35c3fcf8373e7bef9fe5bb0f1cfde
3
+ size 413030740
105000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d4f3b3bd9e399dbd8cf0f85702778af0e6ffd6215914dae4cea65e216038afee
3
+ size 15708
105000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 105000
3
+ }
110000/pretrained_model/config.json ADDED
@@ -0,0 +1,93 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "normalization_mapping": {
5
+ "VISUAL": "MEAN_STD",
6
+ "STATE": "MEAN_STD",
7
+ "ACTION": "MEAN_STD"
8
+ },
9
+ "input_features": {
10
+ "observation.state": {
11
+ "type": "STATE",
12
+ "shape": [
13
+ 46
14
+ ]
15
+ },
16
+ "observation.images.rgb_static": {
17
+ "type": "VISUAL",
18
+ "shape": [
19
+ 3,
20
+ 512,
21
+ 512
22
+ ]
23
+ },
24
+ "observation.images.rgb_left": {
25
+ "type": "VISUAL",
26
+ "shape": [
27
+ 3,
28
+ 512,
29
+ 512
30
+ ]
31
+ },
32
+ "observation.images.rgb_right": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 512,
37
+ 512
38
+ ]
39
+ },
40
+ "observation.images.depth_left": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 512,
45
+ 512
46
+ ]
47
+ },
48
+ "observation.images.depth_right": {
49
+ "type": "VISUAL",
50
+ "shape": [
51
+ 3,
52
+ 512,
53
+ 512
54
+ ]
55
+ }
56
+ },
57
+ "output_features": {
58
+ "action": {
59
+ "type": "ACTION",
60
+ "shape": [
61
+ 17
62
+ ]
63
+ }
64
+ },
65
+ "device": "cuda",
66
+ "use_amp": false,
67
+ "push_to_hub": false,
68
+ "repo_id": null,
69
+ "private": null,
70
+ "tags": null,
71
+ "license": null,
72
+ "chunk_size": 50,
73
+ "n_action_steps": 10,
74
+ "vision_backbone": "resnet18",
75
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
76
+ "replace_final_stride_with_dilation": false,
77
+ "pre_norm": false,
78
+ "dim_model": 512,
79
+ "n_heads": 8,
80
+ "dim_feedforward": 3200,
81
+ "feedforward_activation": "relu",
82
+ "n_encoder_layers": 4,
83
+ "n_decoder_layers": 1,
84
+ "use_vae": true,
85
+ "latent_dim": 32,
86
+ "n_vae_encoder_layers": 4,
87
+ "temporal_ensemble_coeff": null,
88
+ "dropout": 0.1,
89
+ "kl_weight": 10.0,
90
+ "optimizer_lr": 2e-05,
91
+ "optimizer_weight_decay": 0.0001,
92
+ "optimizer_lr_backbone": 2e-05
93
+ }
110000/pretrained_model/dataset_info.json ADDED
@@ -0,0 +1,247 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": null,
4
+ "total_episodes": 56,
5
+ "total_frames": 9103,
6
+ "total_tasks": 1,
7
+ "total_videos": 280,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 10,
11
+ "splits": {
12
+ "train": "0:56"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 46
21
+ ],
22
+ "names": [
23
+ "joint_pos_left_0",
24
+ "joint_pos_left_1",
25
+ "joint_pos_left_2",
26
+ "joint_pos_left_3",
27
+ "joint_pos_left_4",
28
+ "joint_pos_left_5",
29
+ "joint_pos_left_6",
30
+ "joint_pos_right_0",
31
+ "joint_pos_right_1",
32
+ "joint_pos_right_2",
33
+ "joint_pos_right_3",
34
+ "joint_pos_right_4",
35
+ "joint_pos_right_5",
36
+ "joint_pos_right_6",
37
+ "tcp_left_pos_x",
38
+ "tcp_left_pos_y",
39
+ "tcp_left_pos_z",
40
+ "tcp_left_quat_x",
41
+ "tcp_left_quat_y",
42
+ "tcp_left_quat_z",
43
+ "tcp_left_quat_w",
44
+ "tcp_right_pos_x",
45
+ "tcp_right_pos_y",
46
+ "tcp_right_pos_z",
47
+ "tcp_right_quat_x",
48
+ "tcp_right_quat_y",
49
+ "tcp_right_quat_z",
50
+ "tcp_right_quat_w",
51
+ "gripper_left_0",
52
+ "gripper_left_1",
53
+ "gripper_right_0",
54
+ "gripper_right_1",
55
+ "last_command_left_0",
56
+ "last_command_left_1",
57
+ "last_command_left_2",
58
+ "last_command_left_3",
59
+ "last_command_left_4",
60
+ "last_command_left_5",
61
+ "last_command_left_6",
62
+ "last_command_right_0",
63
+ "last_command_right_1",
64
+ "last_command_right_2",
65
+ "last_command_right_3",
66
+ "last_command_right_4",
67
+ "last_command_right_5",
68
+ "last_command_right_6"
69
+ ]
70
+ },
71
+ "action": {
72
+ "dtype": "float32",
73
+ "shape": [
74
+ 17
75
+ ],
76
+ "names": [
77
+ "tcp_left_x",
78
+ "tcp_left_y",
79
+ "tcp_left_z",
80
+ "tcp_left_quat_x",
81
+ "tcp_left_quat_y",
82
+ "tcp_left_quat_z",
83
+ "tcp_left_quat_w",
84
+ "tcp_right_x",
85
+ "tcp_right_y",
86
+ "tcp_right_z",
87
+ "tcp_right_quat_x",
88
+ "tcp_right_quat_y",
89
+ "tcp_right_quat_z",
90
+ "tcp_right_quat_w",
91
+ "gripper_left",
92
+ "gripper_right",
93
+ "reward"
94
+ ]
95
+ },
96
+ "observation.images.rgb_static": {
97
+ "dtype": "video",
98
+ "shape": [
99
+ 512,
100
+ 512,
101
+ 3
102
+ ],
103
+ "names": [
104
+ "height",
105
+ "width",
106
+ "channel"
107
+ ],
108
+ "info": {
109
+ "video.height": 512,
110
+ "video.width": 512,
111
+ "video.codec": "av1",
112
+ "video.pix_fmt": "yuv420p",
113
+ "video.is_depth_map": false,
114
+ "video.fps": 10,
115
+ "video.channels": 3,
116
+ "has_audio": false
117
+ }
118
+ },
119
+ "observation.images.rgb_left": {
120
+ "dtype": "video",
121
+ "shape": [
122
+ 512,
123
+ 512,
124
+ 3
125
+ ],
126
+ "names": [
127
+ "height",
128
+ "width",
129
+ "channel"
130
+ ],
131
+ "info": {
132
+ "video.height": 512,
133
+ "video.width": 512,
134
+ "video.codec": "av1",
135
+ "video.pix_fmt": "yuv420p",
136
+ "video.is_depth_map": false,
137
+ "video.fps": 10,
138
+ "video.channels": 3,
139
+ "has_audio": false
140
+ }
141
+ },
142
+ "observation.images.rgb_right": {
143
+ "dtype": "video",
144
+ "shape": [
145
+ 512,
146
+ 512,
147
+ 3
148
+ ],
149
+ "names": [
150
+ "height",
151
+ "width",
152
+ "channel"
153
+ ],
154
+ "info": {
155
+ "video.height": 512,
156
+ "video.width": 512,
157
+ "video.codec": "av1",
158
+ "video.pix_fmt": "yuv420p",
159
+ "video.is_depth_map": false,
160
+ "video.fps": 10,
161
+ "video.channels": 3,
162
+ "has_audio": false
163
+ }
164
+ },
165
+ "observation.images.depth_left": {
166
+ "dtype": "video",
167
+ "shape": [
168
+ 512,
169
+ 512,
170
+ 3
171
+ ],
172
+ "names": [
173
+ "height",
174
+ "width",
175
+ "channel"
176
+ ],
177
+ "info": {
178
+ "video.height": 512,
179
+ "video.width": 512,
180
+ "video.codec": "av1",
181
+ "video.pix_fmt": "yuv420p",
182
+ "video.is_depth_map": false,
183
+ "video.fps": 10,
184
+ "video.channels": 3,
185
+ "has_audio": false
186
+ }
187
+ },
188
+ "observation.images.depth_right": {
189
+ "dtype": "video",
190
+ "shape": [
191
+ 512,
192
+ 512,
193
+ 3
194
+ ],
195
+ "names": [
196
+ "height",
197
+ "width",
198
+ "channel"
199
+ ],
200
+ "info": {
201
+ "video.height": 512,
202
+ "video.width": 512,
203
+ "video.codec": "av1",
204
+ "video.pix_fmt": "yuv420p",
205
+ "video.is_depth_map": false,
206
+ "video.fps": 10,
207
+ "video.channels": 3,
208
+ "has_audio": false
209
+ }
210
+ },
211
+ "timestamp": {
212
+ "dtype": "float32",
213
+ "shape": [
214
+ 1
215
+ ],
216
+ "names": null
217
+ },
218
+ "frame_index": {
219
+ "dtype": "int64",
220
+ "shape": [
221
+ 1
222
+ ],
223
+ "names": null
224
+ },
225
+ "episode_index": {
226
+ "dtype": "int64",
227
+ "shape": [
228
+ 1
229
+ ],
230
+ "names": null
231
+ },
232
+ "index": {
233
+ "dtype": "int64",
234
+ "shape": [
235
+ 1
236
+ ],
237
+ "names": null
238
+ },
239
+ "task_index": {
240
+ "dtype": "int64",
241
+ "shape": [
242
+ 1
243
+ ],
244
+ "names": null
245
+ }
246
+ }
247
+ }
110000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d7557f595e055ab479e1574e121f425106c7fdc7d97c3e7a03de3ff34541b366
3
+ size 206706596
110000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,256 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "step_2_with_reward",
4
+ "root": "data/lerobot/step_2_with_reward",
5
+ "episodes": [
6
+ 0,
7
+ 1,
8
+ 2,
9
+ 3,
10
+ 4,
11
+ 5,
12
+ 6,
13
+ 7,
14
+ 8,
15
+ 9,
16
+ 10,
17
+ 11,
18
+ 12,
19
+ 13,
20
+ 14,
21
+ 15,
22
+ 16,
23
+ 17,
24
+ 18,
25
+ 19,
26
+ 20,
27
+ 21,
28
+ 22,
29
+ 23,
30
+ 24,
31
+ 25,
32
+ 26,
33
+ 27,
34
+ 28,
35
+ 29,
36
+ 30,
37
+ 31,
38
+ 32,
39
+ 33,
40
+ 34,
41
+ 35,
42
+ 36,
43
+ 37,
44
+ 38,
45
+ 39,
46
+ 40,
47
+ 41,
48
+ 42,
49
+ 43,
50
+ 44,
51
+ 45,
52
+ 46,
53
+ 47,
54
+ 48,
55
+ 49,
56
+ 50,
57
+ 51,
58
+ 52,
59
+ 53,
60
+ 54,
61
+ 55
62
+ ],
63
+ "image_transforms": {
64
+ "enable": false,
65
+ "max_num_transforms": 3,
66
+ "random_order": false,
67
+ "tfs": {
68
+ "brightness": {
69
+ "weight": 1.0,
70
+ "type": "ColorJitter",
71
+ "kwargs": {
72
+ "brightness": [
73
+ 0.8,
74
+ 1.2
75
+ ]
76
+ }
77
+ },
78
+ "contrast": {
79
+ "weight": 1.0,
80
+ "type": "ColorJitter",
81
+ "kwargs": {
82
+ "contrast": [
83
+ 0.8,
84
+ 1.2
85
+ ]
86
+ }
87
+ },
88
+ "saturation": {
89
+ "weight": 1.0,
90
+ "type": "ColorJitter",
91
+ "kwargs": {
92
+ "saturation": [
93
+ 0.5,
94
+ 1.5
95
+ ]
96
+ }
97
+ },
98
+ "hue": {
99
+ "weight": 1.0,
100
+ "type": "ColorJitter",
101
+ "kwargs": {
102
+ "hue": [
103
+ -0.05,
104
+ 0.05
105
+ ]
106
+ }
107
+ },
108
+ "sharpness": {
109
+ "weight": 1.0,
110
+ "type": "SharpnessJitter",
111
+ "kwargs": {
112
+ "sharpness": [
113
+ 0.5,
114
+ 1.5
115
+ ]
116
+ }
117
+ }
118
+ }
119
+ },
120
+ "revision": null,
121
+ "use_imagenet_stats": true,
122
+ "video_backend": "torchcodec"
123
+ },
124
+ "env": null,
125
+ "policy": {
126
+ "type": "act",
127
+ "n_obs_steps": 1,
128
+ "normalization_mapping": {
129
+ "VISUAL": "MEAN_STD",
130
+ "STATE": "MEAN_STD",
131
+ "ACTION": "MEAN_STD"
132
+ },
133
+ "input_features": {
134
+ "observation.state": {
135
+ "type": "STATE",
136
+ "shape": [
137
+ 46
138
+ ]
139
+ },
140
+ "observation.images.rgb_static": {
141
+ "type": "VISUAL",
142
+ "shape": [
143
+ 3,
144
+ 512,
145
+ 512
146
+ ]
147
+ },
148
+ "observation.images.rgb_left": {
149
+ "type": "VISUAL",
150
+ "shape": [
151
+ 3,
152
+ 512,
153
+ 512
154
+ ]
155
+ },
156
+ "observation.images.rgb_right": {
157
+ "type": "VISUAL",
158
+ "shape": [
159
+ 3,
160
+ 512,
161
+ 512
162
+ ]
163
+ },
164
+ "observation.images.depth_left": {
165
+ "type": "VISUAL",
166
+ "shape": [
167
+ 3,
168
+ 512,
169
+ 512
170
+ ]
171
+ },
172
+ "observation.images.depth_right": {
173
+ "type": "VISUAL",
174
+ "shape": [
175
+ 3,
176
+ 512,
177
+ 512
178
+ ]
179
+ }
180
+ },
181
+ "output_features": {
182
+ "action": {
183
+ "type": "ACTION",
184
+ "shape": [
185
+ 17
186
+ ]
187
+ }
188
+ },
189
+ "device": "cuda",
190
+ "use_amp": false,
191
+ "push_to_hub": false,
192
+ "repo_id": null,
193
+ "private": null,
194
+ "tags": null,
195
+ "license": null,
196
+ "chunk_size": 50,
197
+ "n_action_steps": 10,
198
+ "vision_backbone": "resnet18",
199
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
200
+ "replace_final_stride_with_dilation": false,
201
+ "pre_norm": false,
202
+ "dim_model": 512,
203
+ "n_heads": 8,
204
+ "dim_feedforward": 3200,
205
+ "feedforward_activation": "relu",
206
+ "n_encoder_layers": 4,
207
+ "n_decoder_layers": 1,
208
+ "use_vae": true,
209
+ "latent_dim": 32,
210
+ "n_vae_encoder_layers": 4,
211
+ "temporal_ensemble_coeff": null,
212
+ "dropout": 0.1,
213
+ "kl_weight": 10.0,
214
+ "optimizer_lr": 2e-05,
215
+ "optimizer_weight_decay": 0.0001,
216
+ "optimizer_lr_backbone": 2e-05
217
+ },
218
+ "output_dir": "outputs/train/2025-09-20/11-09-50_act",
219
+ "job_name": "act",
220
+ "resume": false,
221
+ "seed": 1000,
222
+ "num_workers": 4,
223
+ "batch_size": 16,
224
+ "steps": 800000,
225
+ "eval_freq": 20000,
226
+ "log_freq": 200,
227
+ "save_checkpoint": true,
228
+ "save_freq": 5000,
229
+ "use_policy_training_preset": true,
230
+ "optimizer": {
231
+ "type": "adamw",
232
+ "lr": 2e-05,
233
+ "weight_decay": 0.0001,
234
+ "grad_clip_norm": 10.0,
235
+ "betas": [
236
+ 0.9,
237
+ 0.999
238
+ ],
239
+ "eps": 1e-08
240
+ },
241
+ "scheduler": null,
242
+ "eval": {
243
+ "n_episodes": 50,
244
+ "batch_size": 50,
245
+ "use_async_envs": false
246
+ },
247
+ "wandb": {
248
+ "enable": true,
249
+ "disable_artifact": false,
250
+ "project": "lerobot",
251
+ "entity": null,
252
+ "notes": null,
253
+ "run_id": "0ct05thy",
254
+ "mode": null
255
+ }
256
+ }
110000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "lr": 2e-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": 2e-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
+ ]
110000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:20ab5868f28af8e78dda6d0a5588bc00f3db4bf4ca693c530f7b7a6d710ebb93
3
+ size 413030740
110000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6c7589f5ad15f463525d9e594a68ac21e7c803e31979341f58b6e36c6ab6be54
3
+ size 15708
110000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 110000
3
+ }
115000/pretrained_model/config.json ADDED
@@ -0,0 +1,93 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "normalization_mapping": {
5
+ "VISUAL": "MEAN_STD",
6
+ "STATE": "MEAN_STD",
7
+ "ACTION": "MEAN_STD"
8
+ },
9
+ "input_features": {
10
+ "observation.state": {
11
+ "type": "STATE",
12
+ "shape": [
13
+ 46
14
+ ]
15
+ },
16
+ "observation.images.rgb_static": {
17
+ "type": "VISUAL",
18
+ "shape": [
19
+ 3,
20
+ 512,
21
+ 512
22
+ ]
23
+ },
24
+ "observation.images.rgb_left": {
25
+ "type": "VISUAL",
26
+ "shape": [
27
+ 3,
28
+ 512,
29
+ 512
30
+ ]
31
+ },
32
+ "observation.images.rgb_right": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 512,
37
+ 512
38
+ ]
39
+ },
40
+ "observation.images.depth_left": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 512,
45
+ 512
46
+ ]
47
+ },
48
+ "observation.images.depth_right": {
49
+ "type": "VISUAL",
50
+ "shape": [
51
+ 3,
52
+ 512,
53
+ 512
54
+ ]
55
+ }
56
+ },
57
+ "output_features": {
58
+ "action": {
59
+ "type": "ACTION",
60
+ "shape": [
61
+ 17
62
+ ]
63
+ }
64
+ },
65
+ "device": "cuda",
66
+ "use_amp": false,
67
+ "push_to_hub": false,
68
+ "repo_id": null,
69
+ "private": null,
70
+ "tags": null,
71
+ "license": null,
72
+ "chunk_size": 50,
73
+ "n_action_steps": 10,
74
+ "vision_backbone": "resnet18",
75
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
76
+ "replace_final_stride_with_dilation": false,
77
+ "pre_norm": false,
78
+ "dim_model": 512,
79
+ "n_heads": 8,
80
+ "dim_feedforward": 3200,
81
+ "feedforward_activation": "relu",
82
+ "n_encoder_layers": 4,
83
+ "n_decoder_layers": 1,
84
+ "use_vae": true,
85
+ "latent_dim": 32,
86
+ "n_vae_encoder_layers": 4,
87
+ "temporal_ensemble_coeff": null,
88
+ "dropout": 0.1,
89
+ "kl_weight": 10.0,
90
+ "optimizer_lr": 2e-05,
91
+ "optimizer_weight_decay": 0.0001,
92
+ "optimizer_lr_backbone": 2e-05
93
+ }
115000/pretrained_model/dataset_info.json ADDED
@@ -0,0 +1,247 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": null,
4
+ "total_episodes": 56,
5
+ "total_frames": 9103,
6
+ "total_tasks": 1,
7
+ "total_videos": 280,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 10,
11
+ "splits": {
12
+ "train": "0:56"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 46
21
+ ],
22
+ "names": [
23
+ "joint_pos_left_0",
24
+ "joint_pos_left_1",
25
+ "joint_pos_left_2",
26
+ "joint_pos_left_3",
27
+ "joint_pos_left_4",
28
+ "joint_pos_left_5",
29
+ "joint_pos_left_6",
30
+ "joint_pos_right_0",
31
+ "joint_pos_right_1",
32
+ "joint_pos_right_2",
33
+ "joint_pos_right_3",
34
+ "joint_pos_right_4",
35
+ "joint_pos_right_5",
36
+ "joint_pos_right_6",
37
+ "tcp_left_pos_x",
38
+ "tcp_left_pos_y",
39
+ "tcp_left_pos_z",
40
+ "tcp_left_quat_x",
41
+ "tcp_left_quat_y",
42
+ "tcp_left_quat_z",
43
+ "tcp_left_quat_w",
44
+ "tcp_right_pos_x",
45
+ "tcp_right_pos_y",
46
+ "tcp_right_pos_z",
47
+ "tcp_right_quat_x",
48
+ "tcp_right_quat_y",
49
+ "tcp_right_quat_z",
50
+ "tcp_right_quat_w",
51
+ "gripper_left_0",
52
+ "gripper_left_1",
53
+ "gripper_right_0",
54
+ "gripper_right_1",
55
+ "last_command_left_0",
56
+ "last_command_left_1",
57
+ "last_command_left_2",
58
+ "last_command_left_3",
59
+ "last_command_left_4",
60
+ "last_command_left_5",
61
+ "last_command_left_6",
62
+ "last_command_right_0",
63
+ "last_command_right_1",
64
+ "last_command_right_2",
65
+ "last_command_right_3",
66
+ "last_command_right_4",
67
+ "last_command_right_5",
68
+ "last_command_right_6"
69
+ ]
70
+ },
71
+ "action": {
72
+ "dtype": "float32",
73
+ "shape": [
74
+ 17
75
+ ],
76
+ "names": [
77
+ "tcp_left_x",
78
+ "tcp_left_y",
79
+ "tcp_left_z",
80
+ "tcp_left_quat_x",
81
+ "tcp_left_quat_y",
82
+ "tcp_left_quat_z",
83
+ "tcp_left_quat_w",
84
+ "tcp_right_x",
85
+ "tcp_right_y",
86
+ "tcp_right_z",
87
+ "tcp_right_quat_x",
88
+ "tcp_right_quat_y",
89
+ "tcp_right_quat_z",
90
+ "tcp_right_quat_w",
91
+ "gripper_left",
92
+ "gripper_right",
93
+ "reward"
94
+ ]
95
+ },
96
+ "observation.images.rgb_static": {
97
+ "dtype": "video",
98
+ "shape": [
99
+ 512,
100
+ 512,
101
+ 3
102
+ ],
103
+ "names": [
104
+ "height",
105
+ "width",
106
+ "channel"
107
+ ],
108
+ "info": {
109
+ "video.height": 512,
110
+ "video.width": 512,
111
+ "video.codec": "av1",
112
+ "video.pix_fmt": "yuv420p",
113
+ "video.is_depth_map": false,
114
+ "video.fps": 10,
115
+ "video.channels": 3,
116
+ "has_audio": false
117
+ }
118
+ },
119
+ "observation.images.rgb_left": {
120
+ "dtype": "video",
121
+ "shape": [
122
+ 512,
123
+ 512,
124
+ 3
125
+ ],
126
+ "names": [
127
+ "height",
128
+ "width",
129
+ "channel"
130
+ ],
131
+ "info": {
132
+ "video.height": 512,
133
+ "video.width": 512,
134
+ "video.codec": "av1",
135
+ "video.pix_fmt": "yuv420p",
136
+ "video.is_depth_map": false,
137
+ "video.fps": 10,
138
+ "video.channels": 3,
139
+ "has_audio": false
140
+ }
141
+ },
142
+ "observation.images.rgb_right": {
143
+ "dtype": "video",
144
+ "shape": [
145
+ 512,
146
+ 512,
147
+ 3
148
+ ],
149
+ "names": [
150
+ "height",
151
+ "width",
152
+ "channel"
153
+ ],
154
+ "info": {
155
+ "video.height": 512,
156
+ "video.width": 512,
157
+ "video.codec": "av1",
158
+ "video.pix_fmt": "yuv420p",
159
+ "video.is_depth_map": false,
160
+ "video.fps": 10,
161
+ "video.channels": 3,
162
+ "has_audio": false
163
+ }
164
+ },
165
+ "observation.images.depth_left": {
166
+ "dtype": "video",
167
+ "shape": [
168
+ 512,
169
+ 512,
170
+ 3
171
+ ],
172
+ "names": [
173
+ "height",
174
+ "width",
175
+ "channel"
176
+ ],
177
+ "info": {
178
+ "video.height": 512,
179
+ "video.width": 512,
180
+ "video.codec": "av1",
181
+ "video.pix_fmt": "yuv420p",
182
+ "video.is_depth_map": false,
183
+ "video.fps": 10,
184
+ "video.channels": 3,
185
+ "has_audio": false
186
+ }
187
+ },
188
+ "observation.images.depth_right": {
189
+ "dtype": "video",
190
+ "shape": [
191
+ 512,
192
+ 512,
193
+ 3
194
+ ],
195
+ "names": [
196
+ "height",
197
+ "width",
198
+ "channel"
199
+ ],
200
+ "info": {
201
+ "video.height": 512,
202
+ "video.width": 512,
203
+ "video.codec": "av1",
204
+ "video.pix_fmt": "yuv420p",
205
+ "video.is_depth_map": false,
206
+ "video.fps": 10,
207
+ "video.channels": 3,
208
+ "has_audio": false
209
+ }
210
+ },
211
+ "timestamp": {
212
+ "dtype": "float32",
213
+ "shape": [
214
+ 1
215
+ ],
216
+ "names": null
217
+ },
218
+ "frame_index": {
219
+ "dtype": "int64",
220
+ "shape": [
221
+ 1
222
+ ],
223
+ "names": null
224
+ },
225
+ "episode_index": {
226
+ "dtype": "int64",
227
+ "shape": [
228
+ 1
229
+ ],
230
+ "names": null
231
+ },
232
+ "index": {
233
+ "dtype": "int64",
234
+ "shape": [
235
+ 1
236
+ ],
237
+ "names": null
238
+ },
239
+ "task_index": {
240
+ "dtype": "int64",
241
+ "shape": [
242
+ 1
243
+ ],
244
+ "names": null
245
+ }
246
+ }
247
+ }
115000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:16d480cb83f39198b8245c70ae39ddcd8773173fd874c8c5c1cdfe092261888c
3
+ size 206706596
115000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,256 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "step_2_with_reward",
4
+ "root": "data/lerobot/step_2_with_reward",
5
+ "episodes": [
6
+ 0,
7
+ 1,
8
+ 2,
9
+ 3,
10
+ 4,
11
+ 5,
12
+ 6,
13
+ 7,
14
+ 8,
15
+ 9,
16
+ 10,
17
+ 11,
18
+ 12,
19
+ 13,
20
+ 14,
21
+ 15,
22
+ 16,
23
+ 17,
24
+ 18,
25
+ 19,
26
+ 20,
27
+ 21,
28
+ 22,
29
+ 23,
30
+ 24,
31
+ 25,
32
+ 26,
33
+ 27,
34
+ 28,
35
+ 29,
36
+ 30,
37
+ 31,
38
+ 32,
39
+ 33,
40
+ 34,
41
+ 35,
42
+ 36,
43
+ 37,
44
+ 38,
45
+ 39,
46
+ 40,
47
+ 41,
48
+ 42,
49
+ 43,
50
+ 44,
51
+ 45,
52
+ 46,
53
+ 47,
54
+ 48,
55
+ 49,
56
+ 50,
57
+ 51,
58
+ 52,
59
+ 53,
60
+ 54,
61
+ 55
62
+ ],
63
+ "image_transforms": {
64
+ "enable": false,
65
+ "max_num_transforms": 3,
66
+ "random_order": false,
67
+ "tfs": {
68
+ "brightness": {
69
+ "weight": 1.0,
70
+ "type": "ColorJitter",
71
+ "kwargs": {
72
+ "brightness": [
73
+ 0.8,
74
+ 1.2
75
+ ]
76
+ }
77
+ },
78
+ "contrast": {
79
+ "weight": 1.0,
80
+ "type": "ColorJitter",
81
+ "kwargs": {
82
+ "contrast": [
83
+ 0.8,
84
+ 1.2
85
+ ]
86
+ }
87
+ },
88
+ "saturation": {
89
+ "weight": 1.0,
90
+ "type": "ColorJitter",
91
+ "kwargs": {
92
+ "saturation": [
93
+ 0.5,
94
+ 1.5
95
+ ]
96
+ }
97
+ },
98
+ "hue": {
99
+ "weight": 1.0,
100
+ "type": "ColorJitter",
101
+ "kwargs": {
102
+ "hue": [
103
+ -0.05,
104
+ 0.05
105
+ ]
106
+ }
107
+ },
108
+ "sharpness": {
109
+ "weight": 1.0,
110
+ "type": "SharpnessJitter",
111
+ "kwargs": {
112
+ "sharpness": [
113
+ 0.5,
114
+ 1.5
115
+ ]
116
+ }
117
+ }
118
+ }
119
+ },
120
+ "revision": null,
121
+ "use_imagenet_stats": true,
122
+ "video_backend": "torchcodec"
123
+ },
124
+ "env": null,
125
+ "policy": {
126
+ "type": "act",
127
+ "n_obs_steps": 1,
128
+ "normalization_mapping": {
129
+ "VISUAL": "MEAN_STD",
130
+ "STATE": "MEAN_STD",
131
+ "ACTION": "MEAN_STD"
132
+ },
133
+ "input_features": {
134
+ "observation.state": {
135
+ "type": "STATE",
136
+ "shape": [
137
+ 46
138
+ ]
139
+ },
140
+ "observation.images.rgb_static": {
141
+ "type": "VISUAL",
142
+ "shape": [
143
+ 3,
144
+ 512,
145
+ 512
146
+ ]
147
+ },
148
+ "observation.images.rgb_left": {
149
+ "type": "VISUAL",
150
+ "shape": [
151
+ 3,
152
+ 512,
153
+ 512
154
+ ]
155
+ },
156
+ "observation.images.rgb_right": {
157
+ "type": "VISUAL",
158
+ "shape": [
159
+ 3,
160
+ 512,
161
+ 512
162
+ ]
163
+ },
164
+ "observation.images.depth_left": {
165
+ "type": "VISUAL",
166
+ "shape": [
167
+ 3,
168
+ 512,
169
+ 512
170
+ ]
171
+ },
172
+ "observation.images.depth_right": {
173
+ "type": "VISUAL",
174
+ "shape": [
175
+ 3,
176
+ 512,
177
+ 512
178
+ ]
179
+ }
180
+ },
181
+ "output_features": {
182
+ "action": {
183
+ "type": "ACTION",
184
+ "shape": [
185
+ 17
186
+ ]
187
+ }
188
+ },
189
+ "device": "cuda",
190
+ "use_amp": false,
191
+ "push_to_hub": false,
192
+ "repo_id": null,
193
+ "private": null,
194
+ "tags": null,
195
+ "license": null,
196
+ "chunk_size": 50,
197
+ "n_action_steps": 10,
198
+ "vision_backbone": "resnet18",
199
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
200
+ "replace_final_stride_with_dilation": false,
201
+ "pre_norm": false,
202
+ "dim_model": 512,
203
+ "n_heads": 8,
204
+ "dim_feedforward": 3200,
205
+ "feedforward_activation": "relu",
206
+ "n_encoder_layers": 4,
207
+ "n_decoder_layers": 1,
208
+ "use_vae": true,
209
+ "latent_dim": 32,
210
+ "n_vae_encoder_layers": 4,
211
+ "temporal_ensemble_coeff": null,
212
+ "dropout": 0.1,
213
+ "kl_weight": 10.0,
214
+ "optimizer_lr": 2e-05,
215
+ "optimizer_weight_decay": 0.0001,
216
+ "optimizer_lr_backbone": 2e-05
217
+ },
218
+ "output_dir": "outputs/train/2025-09-20/11-09-50_act",
219
+ "job_name": "act",
220
+ "resume": false,
221
+ "seed": 1000,
222
+ "num_workers": 4,
223
+ "batch_size": 16,
224
+ "steps": 800000,
225
+ "eval_freq": 20000,
226
+ "log_freq": 200,
227
+ "save_checkpoint": true,
228
+ "save_freq": 5000,
229
+ "use_policy_training_preset": true,
230
+ "optimizer": {
231
+ "type": "adamw",
232
+ "lr": 2e-05,
233
+ "weight_decay": 0.0001,
234
+ "grad_clip_norm": 10.0,
235
+ "betas": [
236
+ 0.9,
237
+ 0.999
238
+ ],
239
+ "eps": 1e-08
240
+ },
241
+ "scheduler": null,
242
+ "eval": {
243
+ "n_episodes": 50,
244
+ "batch_size": 50,
245
+ "use_async_envs": false
246
+ },
247
+ "wandb": {
248
+ "enable": true,
249
+ "disable_artifact": false,
250
+ "project": "lerobot",
251
+ "entity": null,
252
+ "notes": null,
253
+ "run_id": "0ct05thy",
254
+ "mode": null
255
+ }
256
+ }
115000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "lr": 2e-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": 2e-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
+ ]
115000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:324e0e22336fac68ec39a916a937e2cf3c7f061fe49fd53cd66428e630a3110c
3
+ size 413030740
115000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2ce54222e0f080a0a14da00e99250e7f9f019fcb429c438dad2f8ffaaa02828f
3
+ size 15708
115000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 115000
3
+ }
120000/pretrained_model/config.json ADDED
@@ -0,0 +1,93 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "normalization_mapping": {
5
+ "VISUAL": "MEAN_STD",
6
+ "STATE": "MEAN_STD",
7
+ "ACTION": "MEAN_STD"
8
+ },
9
+ "input_features": {
10
+ "observation.state": {
11
+ "type": "STATE",
12
+ "shape": [
13
+ 46
14
+ ]
15
+ },
16
+ "observation.images.rgb_static": {
17
+ "type": "VISUAL",
18
+ "shape": [
19
+ 3,
20
+ 512,
21
+ 512
22
+ ]
23
+ },
24
+ "observation.images.rgb_left": {
25
+ "type": "VISUAL",
26
+ "shape": [
27
+ 3,
28
+ 512,
29
+ 512
30
+ ]
31
+ },
32
+ "observation.images.rgb_right": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 512,
37
+ 512
38
+ ]
39
+ },
40
+ "observation.images.depth_left": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 512,
45
+ 512
46
+ ]
47
+ },
48
+ "observation.images.depth_right": {
49
+ "type": "VISUAL",
50
+ "shape": [
51
+ 3,
52
+ 512,
53
+ 512
54
+ ]
55
+ }
56
+ },
57
+ "output_features": {
58
+ "action": {
59
+ "type": "ACTION",
60
+ "shape": [
61
+ 17
62
+ ]
63
+ }
64
+ },
65
+ "device": "cuda",
66
+ "use_amp": false,
67
+ "push_to_hub": false,
68
+ "repo_id": null,
69
+ "private": null,
70
+ "tags": null,
71
+ "license": null,
72
+ "chunk_size": 50,
73
+ "n_action_steps": 10,
74
+ "vision_backbone": "resnet18",
75
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
76
+ "replace_final_stride_with_dilation": false,
77
+ "pre_norm": false,
78
+ "dim_model": 512,
79
+ "n_heads": 8,
80
+ "dim_feedforward": 3200,
81
+ "feedforward_activation": "relu",
82
+ "n_encoder_layers": 4,
83
+ "n_decoder_layers": 1,
84
+ "use_vae": true,
85
+ "latent_dim": 32,
86
+ "n_vae_encoder_layers": 4,
87
+ "temporal_ensemble_coeff": null,
88
+ "dropout": 0.1,
89
+ "kl_weight": 10.0,
90
+ "optimizer_lr": 2e-05,
91
+ "optimizer_weight_decay": 0.0001,
92
+ "optimizer_lr_backbone": 2e-05
93
+ }
120000/pretrained_model/dataset_info.json ADDED
@@ -0,0 +1,247 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": null,
4
+ "total_episodes": 56,
5
+ "total_frames": 9103,
6
+ "total_tasks": 1,
7
+ "total_videos": 280,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 10,
11
+ "splits": {
12
+ "train": "0:56"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 46
21
+ ],
22
+ "names": [
23
+ "joint_pos_left_0",
24
+ "joint_pos_left_1",
25
+ "joint_pos_left_2",
26
+ "joint_pos_left_3",
27
+ "joint_pos_left_4",
28
+ "joint_pos_left_5",
29
+ "joint_pos_left_6",
30
+ "joint_pos_right_0",
31
+ "joint_pos_right_1",
32
+ "joint_pos_right_2",
33
+ "joint_pos_right_3",
34
+ "joint_pos_right_4",
35
+ "joint_pos_right_5",
36
+ "joint_pos_right_6",
37
+ "tcp_left_pos_x",
38
+ "tcp_left_pos_y",
39
+ "tcp_left_pos_z",
40
+ "tcp_left_quat_x",
41
+ "tcp_left_quat_y",
42
+ "tcp_left_quat_z",
43
+ "tcp_left_quat_w",
44
+ "tcp_right_pos_x",
45
+ "tcp_right_pos_y",
46
+ "tcp_right_pos_z",
47
+ "tcp_right_quat_x",
48
+ "tcp_right_quat_y",
49
+ "tcp_right_quat_z",
50
+ "tcp_right_quat_w",
51
+ "gripper_left_0",
52
+ "gripper_left_1",
53
+ "gripper_right_0",
54
+ "gripper_right_1",
55
+ "last_command_left_0",
56
+ "last_command_left_1",
57
+ "last_command_left_2",
58
+ "last_command_left_3",
59
+ "last_command_left_4",
60
+ "last_command_left_5",
61
+ "last_command_left_6",
62
+ "last_command_right_0",
63
+ "last_command_right_1",
64
+ "last_command_right_2",
65
+ "last_command_right_3",
66
+ "last_command_right_4",
67
+ "last_command_right_5",
68
+ "last_command_right_6"
69
+ ]
70
+ },
71
+ "action": {
72
+ "dtype": "float32",
73
+ "shape": [
74
+ 17
75
+ ],
76
+ "names": [
77
+ "tcp_left_x",
78
+ "tcp_left_y",
79
+ "tcp_left_z",
80
+ "tcp_left_quat_x",
81
+ "tcp_left_quat_y",
82
+ "tcp_left_quat_z",
83
+ "tcp_left_quat_w",
84
+ "tcp_right_x",
85
+ "tcp_right_y",
86
+ "tcp_right_z",
87
+ "tcp_right_quat_x",
88
+ "tcp_right_quat_y",
89
+ "tcp_right_quat_z",
90
+ "tcp_right_quat_w",
91
+ "gripper_left",
92
+ "gripper_right",
93
+ "reward"
94
+ ]
95
+ },
96
+ "observation.images.rgb_static": {
97
+ "dtype": "video",
98
+ "shape": [
99
+ 512,
100
+ 512,
101
+ 3
102
+ ],
103
+ "names": [
104
+ "height",
105
+ "width",
106
+ "channel"
107
+ ],
108
+ "info": {
109
+ "video.height": 512,
110
+ "video.width": 512,
111
+ "video.codec": "av1",
112
+ "video.pix_fmt": "yuv420p",
113
+ "video.is_depth_map": false,
114
+ "video.fps": 10,
115
+ "video.channels": 3,
116
+ "has_audio": false
117
+ }
118
+ },
119
+ "observation.images.rgb_left": {
120
+ "dtype": "video",
121
+ "shape": [
122
+ 512,
123
+ 512,
124
+ 3
125
+ ],
126
+ "names": [
127
+ "height",
128
+ "width",
129
+ "channel"
130
+ ],
131
+ "info": {
132
+ "video.height": 512,
133
+ "video.width": 512,
134
+ "video.codec": "av1",
135
+ "video.pix_fmt": "yuv420p",
136
+ "video.is_depth_map": false,
137
+ "video.fps": 10,
138
+ "video.channels": 3,
139
+ "has_audio": false
140
+ }
141
+ },
142
+ "observation.images.rgb_right": {
143
+ "dtype": "video",
144
+ "shape": [
145
+ 512,
146
+ 512,
147
+ 3
148
+ ],
149
+ "names": [
150
+ "height",
151
+ "width",
152
+ "channel"
153
+ ],
154
+ "info": {
155
+ "video.height": 512,
156
+ "video.width": 512,
157
+ "video.codec": "av1",
158
+ "video.pix_fmt": "yuv420p",
159
+ "video.is_depth_map": false,
160
+ "video.fps": 10,
161
+ "video.channels": 3,
162
+ "has_audio": false
163
+ }
164
+ },
165
+ "observation.images.depth_left": {
166
+ "dtype": "video",
167
+ "shape": [
168
+ 512,
169
+ 512,
170
+ 3
171
+ ],
172
+ "names": [
173
+ "height",
174
+ "width",
175
+ "channel"
176
+ ],
177
+ "info": {
178
+ "video.height": 512,
179
+ "video.width": 512,
180
+ "video.codec": "av1",
181
+ "video.pix_fmt": "yuv420p",
182
+ "video.is_depth_map": false,
183
+ "video.fps": 10,
184
+ "video.channels": 3,
185
+ "has_audio": false
186
+ }
187
+ },
188
+ "observation.images.depth_right": {
189
+ "dtype": "video",
190
+ "shape": [
191
+ 512,
192
+ 512,
193
+ 3
194
+ ],
195
+ "names": [
196
+ "height",
197
+ "width",
198
+ "channel"
199
+ ],
200
+ "info": {
201
+ "video.height": 512,
202
+ "video.width": 512,
203
+ "video.codec": "av1",
204
+ "video.pix_fmt": "yuv420p",
205
+ "video.is_depth_map": false,
206
+ "video.fps": 10,
207
+ "video.channels": 3,
208
+ "has_audio": false
209
+ }
210
+ },
211
+ "timestamp": {
212
+ "dtype": "float32",
213
+ "shape": [
214
+ 1
215
+ ],
216
+ "names": null
217
+ },
218
+ "frame_index": {
219
+ "dtype": "int64",
220
+ "shape": [
221
+ 1
222
+ ],
223
+ "names": null
224
+ },
225
+ "episode_index": {
226
+ "dtype": "int64",
227
+ "shape": [
228
+ 1
229
+ ],
230
+ "names": null
231
+ },
232
+ "index": {
233
+ "dtype": "int64",
234
+ "shape": [
235
+ 1
236
+ ],
237
+ "names": null
238
+ },
239
+ "task_index": {
240
+ "dtype": "int64",
241
+ "shape": [
242
+ 1
243
+ ],
244
+ "names": null
245
+ }
246
+ }
247
+ }
120000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:56f7bc845427e6d63620809cb59f8f1b8a51a6f8dab5a7d902de8f33e24e0239
3
+ size 206706596
120000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,256 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "step_2_with_reward",
4
+ "root": "data/lerobot/step_2_with_reward",
5
+ "episodes": [
6
+ 0,
7
+ 1,
8
+ 2,
9
+ 3,
10
+ 4,
11
+ 5,
12
+ 6,
13
+ 7,
14
+ 8,
15
+ 9,
16
+ 10,
17
+ 11,
18
+ 12,
19
+ 13,
20
+ 14,
21
+ 15,
22
+ 16,
23
+ 17,
24
+ 18,
25
+ 19,
26
+ 20,
27
+ 21,
28
+ 22,
29
+ 23,
30
+ 24,
31
+ 25,
32
+ 26,
33
+ 27,
34
+ 28,
35
+ 29,
36
+ 30,
37
+ 31,
38
+ 32,
39
+ 33,
40
+ 34,
41
+ 35,
42
+ 36,
43
+ 37,
44
+ 38,
45
+ 39,
46
+ 40,
47
+ 41,
48
+ 42,
49
+ 43,
50
+ 44,
51
+ 45,
52
+ 46,
53
+ 47,
54
+ 48,
55
+ 49,
56
+ 50,
57
+ 51,
58
+ 52,
59
+ 53,
60
+ 54,
61
+ 55
62
+ ],
63
+ "image_transforms": {
64
+ "enable": false,
65
+ "max_num_transforms": 3,
66
+ "random_order": false,
67
+ "tfs": {
68
+ "brightness": {
69
+ "weight": 1.0,
70
+ "type": "ColorJitter",
71
+ "kwargs": {
72
+ "brightness": [
73
+ 0.8,
74
+ 1.2
75
+ ]
76
+ }
77
+ },
78
+ "contrast": {
79
+ "weight": 1.0,
80
+ "type": "ColorJitter",
81
+ "kwargs": {
82
+ "contrast": [
83
+ 0.8,
84
+ 1.2
85
+ ]
86
+ }
87
+ },
88
+ "saturation": {
89
+ "weight": 1.0,
90
+ "type": "ColorJitter",
91
+ "kwargs": {
92
+ "saturation": [
93
+ 0.5,
94
+ 1.5
95
+ ]
96
+ }
97
+ },
98
+ "hue": {
99
+ "weight": 1.0,
100
+ "type": "ColorJitter",
101
+ "kwargs": {
102
+ "hue": [
103
+ -0.05,
104
+ 0.05
105
+ ]
106
+ }
107
+ },
108
+ "sharpness": {
109
+ "weight": 1.0,
110
+ "type": "SharpnessJitter",
111
+ "kwargs": {
112
+ "sharpness": [
113
+ 0.5,
114
+ 1.5
115
+ ]
116
+ }
117
+ }
118
+ }
119
+ },
120
+ "revision": null,
121
+ "use_imagenet_stats": true,
122
+ "video_backend": "torchcodec"
123
+ },
124
+ "env": null,
125
+ "policy": {
126
+ "type": "act",
127
+ "n_obs_steps": 1,
128
+ "normalization_mapping": {
129
+ "VISUAL": "MEAN_STD",
130
+ "STATE": "MEAN_STD",
131
+ "ACTION": "MEAN_STD"
132
+ },
133
+ "input_features": {
134
+ "observation.state": {
135
+ "type": "STATE",
136
+ "shape": [
137
+ 46
138
+ ]
139
+ },
140
+ "observation.images.rgb_static": {
141
+ "type": "VISUAL",
142
+ "shape": [
143
+ 3,
144
+ 512,
145
+ 512
146
+ ]
147
+ },
148
+ "observation.images.rgb_left": {
149
+ "type": "VISUAL",
150
+ "shape": [
151
+ 3,
152
+ 512,
153
+ 512
154
+ ]
155
+ },
156
+ "observation.images.rgb_right": {
157
+ "type": "VISUAL",
158
+ "shape": [
159
+ 3,
160
+ 512,
161
+ 512
162
+ ]
163
+ },
164
+ "observation.images.depth_left": {
165
+ "type": "VISUAL",
166
+ "shape": [
167
+ 3,
168
+ 512,
169
+ 512
170
+ ]
171
+ },
172
+ "observation.images.depth_right": {
173
+ "type": "VISUAL",
174
+ "shape": [
175
+ 3,
176
+ 512,
177
+ 512
178
+ ]
179
+ }
180
+ },
181
+ "output_features": {
182
+ "action": {
183
+ "type": "ACTION",
184
+ "shape": [
185
+ 17
186
+ ]
187
+ }
188
+ },
189
+ "device": "cuda",
190
+ "use_amp": false,
191
+ "push_to_hub": false,
192
+ "repo_id": null,
193
+ "private": null,
194
+ "tags": null,
195
+ "license": null,
196
+ "chunk_size": 50,
197
+ "n_action_steps": 10,
198
+ "vision_backbone": "resnet18",
199
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
200
+ "replace_final_stride_with_dilation": false,
201
+ "pre_norm": false,
202
+ "dim_model": 512,
203
+ "n_heads": 8,
204
+ "dim_feedforward": 3200,
205
+ "feedforward_activation": "relu",
206
+ "n_encoder_layers": 4,
207
+ "n_decoder_layers": 1,
208
+ "use_vae": true,
209
+ "latent_dim": 32,
210
+ "n_vae_encoder_layers": 4,
211
+ "temporal_ensemble_coeff": null,
212
+ "dropout": 0.1,
213
+ "kl_weight": 10.0,
214
+ "optimizer_lr": 2e-05,
215
+ "optimizer_weight_decay": 0.0001,
216
+ "optimizer_lr_backbone": 2e-05
217
+ },
218
+ "output_dir": "outputs/train/2025-09-20/11-09-50_act",
219
+ "job_name": "act",
220
+ "resume": false,
221
+ "seed": 1000,
222
+ "num_workers": 4,
223
+ "batch_size": 16,
224
+ "steps": 800000,
225
+ "eval_freq": 20000,
226
+ "log_freq": 200,
227
+ "save_checkpoint": true,
228
+ "save_freq": 5000,
229
+ "use_policy_training_preset": true,
230
+ "optimizer": {
231
+ "type": "adamw",
232
+ "lr": 2e-05,
233
+ "weight_decay": 0.0001,
234
+ "grad_clip_norm": 10.0,
235
+ "betas": [
236
+ 0.9,
237
+ 0.999
238
+ ],
239
+ "eps": 1e-08
240
+ },
241
+ "scheduler": null,
242
+ "eval": {
243
+ "n_episodes": 50,
244
+ "batch_size": 50,
245
+ "use_async_envs": false
246
+ },
247
+ "wandb": {
248
+ "enable": true,
249
+ "disable_artifact": false,
250
+ "project": "lerobot",
251
+ "entity": null,
252
+ "notes": null,
253
+ "run_id": "0ct05thy",
254
+ "mode": null
255
+ }
256
+ }
120000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "lr": 2e-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": 2e-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
+ ]
120000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dbfa2b2d793e092fe3e7dcee4b0df9158b1cc7f7331962963a9c2accc6bb1ea0
3
+ size 413030740
120000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2c40a4579302e1bda537c8545de0618ff85499937ca0ee7523ee217619986e08
3
+ size 15708
120000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 120000
3
+ }
125000/pretrained_model/config.json ADDED
@@ -0,0 +1,93 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "act",
3
+ "n_obs_steps": 1,
4
+ "normalization_mapping": {
5
+ "VISUAL": "MEAN_STD",
6
+ "STATE": "MEAN_STD",
7
+ "ACTION": "MEAN_STD"
8
+ },
9
+ "input_features": {
10
+ "observation.state": {
11
+ "type": "STATE",
12
+ "shape": [
13
+ 46
14
+ ]
15
+ },
16
+ "observation.images.rgb_static": {
17
+ "type": "VISUAL",
18
+ "shape": [
19
+ 3,
20
+ 512,
21
+ 512
22
+ ]
23
+ },
24
+ "observation.images.rgb_left": {
25
+ "type": "VISUAL",
26
+ "shape": [
27
+ 3,
28
+ 512,
29
+ 512
30
+ ]
31
+ },
32
+ "observation.images.rgb_right": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 512,
37
+ 512
38
+ ]
39
+ },
40
+ "observation.images.depth_left": {
41
+ "type": "VISUAL",
42
+ "shape": [
43
+ 3,
44
+ 512,
45
+ 512
46
+ ]
47
+ },
48
+ "observation.images.depth_right": {
49
+ "type": "VISUAL",
50
+ "shape": [
51
+ 3,
52
+ 512,
53
+ 512
54
+ ]
55
+ }
56
+ },
57
+ "output_features": {
58
+ "action": {
59
+ "type": "ACTION",
60
+ "shape": [
61
+ 17
62
+ ]
63
+ }
64
+ },
65
+ "device": "cuda",
66
+ "use_amp": false,
67
+ "push_to_hub": false,
68
+ "repo_id": null,
69
+ "private": null,
70
+ "tags": null,
71
+ "license": null,
72
+ "chunk_size": 50,
73
+ "n_action_steps": 10,
74
+ "vision_backbone": "resnet18",
75
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
76
+ "replace_final_stride_with_dilation": false,
77
+ "pre_norm": false,
78
+ "dim_model": 512,
79
+ "n_heads": 8,
80
+ "dim_feedforward": 3200,
81
+ "feedforward_activation": "relu",
82
+ "n_encoder_layers": 4,
83
+ "n_decoder_layers": 1,
84
+ "use_vae": true,
85
+ "latent_dim": 32,
86
+ "n_vae_encoder_layers": 4,
87
+ "temporal_ensemble_coeff": null,
88
+ "dropout": 0.1,
89
+ "kl_weight": 10.0,
90
+ "optimizer_lr": 2e-05,
91
+ "optimizer_weight_decay": 0.0001,
92
+ "optimizer_lr_backbone": 2e-05
93
+ }
125000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d3a1c109c820860c695353f947deca22e26230336c7a27046818cdcc149d2309
3
+ size 206706596
125000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,256 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "step_2_with_reward",
4
+ "root": "data/lerobot/step_2_with_reward",
5
+ "episodes": [
6
+ 0,
7
+ 1,
8
+ 2,
9
+ 3,
10
+ 4,
11
+ 5,
12
+ 6,
13
+ 7,
14
+ 8,
15
+ 9,
16
+ 10,
17
+ 11,
18
+ 12,
19
+ 13,
20
+ 14,
21
+ 15,
22
+ 16,
23
+ 17,
24
+ 18,
25
+ 19,
26
+ 20,
27
+ 21,
28
+ 22,
29
+ 23,
30
+ 24,
31
+ 25,
32
+ 26,
33
+ 27,
34
+ 28,
35
+ 29,
36
+ 30,
37
+ 31,
38
+ 32,
39
+ 33,
40
+ 34,
41
+ 35,
42
+ 36,
43
+ 37,
44
+ 38,
45
+ 39,
46
+ 40,
47
+ 41,
48
+ 42,
49
+ 43,
50
+ 44,
51
+ 45,
52
+ 46,
53
+ 47,
54
+ 48,
55
+ 49,
56
+ 50,
57
+ 51,
58
+ 52,
59
+ 53,
60
+ 54,
61
+ 55
62
+ ],
63
+ "image_transforms": {
64
+ "enable": false,
65
+ "max_num_transforms": 3,
66
+ "random_order": false,
67
+ "tfs": {
68
+ "brightness": {
69
+ "weight": 1.0,
70
+ "type": "ColorJitter",
71
+ "kwargs": {
72
+ "brightness": [
73
+ 0.8,
74
+ 1.2
75
+ ]
76
+ }
77
+ },
78
+ "contrast": {
79
+ "weight": 1.0,
80
+ "type": "ColorJitter",
81
+ "kwargs": {
82
+ "contrast": [
83
+ 0.8,
84
+ 1.2
85
+ ]
86
+ }
87
+ },
88
+ "saturation": {
89
+ "weight": 1.0,
90
+ "type": "ColorJitter",
91
+ "kwargs": {
92
+ "saturation": [
93
+ 0.5,
94
+ 1.5
95
+ ]
96
+ }
97
+ },
98
+ "hue": {
99
+ "weight": 1.0,
100
+ "type": "ColorJitter",
101
+ "kwargs": {
102
+ "hue": [
103
+ -0.05,
104
+ 0.05
105
+ ]
106
+ }
107
+ },
108
+ "sharpness": {
109
+ "weight": 1.0,
110
+ "type": "SharpnessJitter",
111
+ "kwargs": {
112
+ "sharpness": [
113
+ 0.5,
114
+ 1.5
115
+ ]
116
+ }
117
+ }
118
+ }
119
+ },
120
+ "revision": null,
121
+ "use_imagenet_stats": true,
122
+ "video_backend": "torchcodec"
123
+ },
124
+ "env": null,
125
+ "policy": {
126
+ "type": "act",
127
+ "n_obs_steps": 1,
128
+ "normalization_mapping": {
129
+ "VISUAL": "MEAN_STD",
130
+ "STATE": "MEAN_STD",
131
+ "ACTION": "MEAN_STD"
132
+ },
133
+ "input_features": {
134
+ "observation.state": {
135
+ "type": "STATE",
136
+ "shape": [
137
+ 46
138
+ ]
139
+ },
140
+ "observation.images.rgb_static": {
141
+ "type": "VISUAL",
142
+ "shape": [
143
+ 3,
144
+ 512,
145
+ 512
146
+ ]
147
+ },
148
+ "observation.images.rgb_left": {
149
+ "type": "VISUAL",
150
+ "shape": [
151
+ 3,
152
+ 512,
153
+ 512
154
+ ]
155
+ },
156
+ "observation.images.rgb_right": {
157
+ "type": "VISUAL",
158
+ "shape": [
159
+ 3,
160
+ 512,
161
+ 512
162
+ ]
163
+ },
164
+ "observation.images.depth_left": {
165
+ "type": "VISUAL",
166
+ "shape": [
167
+ 3,
168
+ 512,
169
+ 512
170
+ ]
171
+ },
172
+ "observation.images.depth_right": {
173
+ "type": "VISUAL",
174
+ "shape": [
175
+ 3,
176
+ 512,
177
+ 512
178
+ ]
179
+ }
180
+ },
181
+ "output_features": {
182
+ "action": {
183
+ "type": "ACTION",
184
+ "shape": [
185
+ 17
186
+ ]
187
+ }
188
+ },
189
+ "device": "cuda",
190
+ "use_amp": false,
191
+ "push_to_hub": false,
192
+ "repo_id": null,
193
+ "private": null,
194
+ "tags": null,
195
+ "license": null,
196
+ "chunk_size": 50,
197
+ "n_action_steps": 10,
198
+ "vision_backbone": "resnet18",
199
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
200
+ "replace_final_stride_with_dilation": false,
201
+ "pre_norm": false,
202
+ "dim_model": 512,
203
+ "n_heads": 8,
204
+ "dim_feedforward": 3200,
205
+ "feedforward_activation": "relu",
206
+ "n_encoder_layers": 4,
207
+ "n_decoder_layers": 1,
208
+ "use_vae": true,
209
+ "latent_dim": 32,
210
+ "n_vae_encoder_layers": 4,
211
+ "temporal_ensemble_coeff": null,
212
+ "dropout": 0.1,
213
+ "kl_weight": 10.0,
214
+ "optimizer_lr": 2e-05,
215
+ "optimizer_weight_decay": 0.0001,
216
+ "optimizer_lr_backbone": 2e-05
217
+ },
218
+ "output_dir": "outputs/train/2025-09-20/11-09-50_act",
219
+ "job_name": "act",
220
+ "resume": false,
221
+ "seed": 1000,
222
+ "num_workers": 4,
223
+ "batch_size": 16,
224
+ "steps": 800000,
225
+ "eval_freq": 20000,
226
+ "log_freq": 200,
227
+ "save_checkpoint": true,
228
+ "save_freq": 5000,
229
+ "use_policy_training_preset": true,
230
+ "optimizer": {
231
+ "type": "adamw",
232
+ "lr": 2e-05,
233
+ "weight_decay": 0.0001,
234
+ "grad_clip_norm": 10.0,
235
+ "betas": [
236
+ 0.9,
237
+ 0.999
238
+ ],
239
+ "eps": 1e-08
240
+ },
241
+ "scheduler": null,
242
+ "eval": {
243
+ "n_episodes": 50,
244
+ "batch_size": 50,
245
+ "use_async_envs": false
246
+ },
247
+ "wandb": {
248
+ "enable": true,
249
+ "disable_artifact": false,
250
+ "project": "lerobot",
251
+ "entity": null,
252
+ "notes": null,
253
+ "run_id": "0ct05thy",
254
+ "mode": null
255
+ }
256
+ }
125000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:676d5b36e99288bdee31880d76ac02228aaff26f9a3420c731d5f47b94371055
3
+ size 169607168
125000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:deaedbcb4dc3e5fac3681a7ddf0723a03ffd8c1d3ecbd33429c509b6ddb25f6b
3
+ size 15708
125000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 125000
3
+ }