Hugging Face's logo

DexSteer
/
pi05_isaaclab_ur7e_3task_ee-old

Safetensors
Model card Files
xet
 Community
yrpark commited on
Commit
6a97ee2
·
verified ·
1 Parent(s): dd604d4

pi0.5 pour_cup (EE, 30k steps, effective batch 32)

Browse files
Files changed (7) hide show
  1. pour_cup/config.json +121 -0
  2. pour_cup/model.safetensors +3 -0
  3. pour_cup/policy_postprocessor.json +38 -0
  4. pour_cup/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  5. pour_cup/policy_preprocessor.json +97 -0
  6. pour_cup/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  7. pour_cup/train_config.json +276 -0
pour_cup/config.json ADDED
@@ -0,0 +1,121 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "pi05",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.images.third_person": {
6
+ "type": "VISUAL",
7
+ "shape": [
8
+ 3,
9
+ 480,
10
+ 640
11
+ ]
12
+ },
13
+ "observation.images.eye_in_hand": {
14
+ "type": "VISUAL",
15
+ "shape": [
16
+ 3,
17
+ 480,
18
+ 640
19
+ ]
20
+ },
21
+ "observation.state": {
22
+ "type": "STATE",
23
+ "shape": [
24
+ 24
25
+ ]
26
+ },
27
+ "observation.images.empty_camera_0": {
28
+ "type": "VISUAL",
29
+ "shape": [
30
+ 3,
31
+ 224,
32
+ 224
33
+ ]
34
+ }
35
+ },
36
+ "output_features": {
37
+ "action": {
38
+ "type": "ACTION",
39
+ "shape": [
40
+ 19
41
+ ]
42
+ }
43
+ },
44
+ "device": "cuda",
45
+ "use_amp": false,
46
+ "use_peft": false,
47
+ "push_to_hub": false,
48
+ "repo_id": null,
49
+ "private": null,
50
+ "tags": null,
51
+ "license": null,
52
+ "pretrained_path": "lerobot/pi05_base",
53
+ "pretrained_revision": null,
54
+ "paligemma_variant": "gemma_2b",
55
+ "action_expert_variant": "gemma_300m",
56
+ "dtype": "bfloat16",
57
+ "chunk_size": 50,
58
+ "n_action_steps": 25,
59
+ "max_state_dim": 32,
60
+ "max_action_dim": 32,
61
+ "num_inference_steps": 10,
62
+ "time_sampling_beta_alpha": 1.5,
63
+ "time_sampling_beta_beta": 1.0,
64
+ "time_sampling_scale": 0.999,
65
+ "time_sampling_offset": 0.001,
66
+ "min_period": 0.004,
67
+ "max_period": 4.0,
68
+ "use_relative_actions": false,
69
+ "relative_exclude_joints": [
70
+ "gripper"
71
+ ],
72
+ "action_feature_names": [
73
+ "action_0",
74
+ "action_1",
75
+ "action_2",
76
+ "action_3",
77
+ "action_4",
78
+ "action_5",
79
+ "action_6",
80
+ "action_7",
81
+ "action_8",
82
+ "action_9",
83
+ "action_10",
84
+ "action_11",
85
+ "action_12",
86
+ "action_13",
87
+ "action_14",
88
+ "action_15",
89
+ "action_16",
90
+ "action_17",
91
+ "action_18"
92
+ ],
93
+ "rtc_config": null,
94
+ "image_resolution": [
95
+ 224,
96
+ 224
97
+ ],
98
+ "empty_cameras": 1,
99
+ "tokenizer_max_length": 200,
100
+ "normalization_mapping": {
101
+ "ACTION": "QUANTILES",
102
+ "STATE": "QUANTILES",
103
+ "VISUAL": "IDENTITY"
104
+ },
105
+ "gradient_checkpointing": true,
106
+ "compile_model": true,
107
+ "compile_mode": "max-autotune",
108
+ "freeze_vision_encoder": false,
109
+ "train_expert_only": false,
110
+ "optimizer_lr": 2.5e-05,
111
+ "optimizer_betas": [
112
+ 0.9,
113
+ 0.95
114
+ ],
115
+ "optimizer_eps": 1e-08,
116
+ "optimizer_weight_decay": 0.01,
117
+ "optimizer_grad_clip_norm": 1.0,
118
+ "scheduler_warmup_steps": 1000,
119
+ "scheduler_decay_steps": 30000,
120
+ "scheduler_decay_lr": 2.5e-06
121
+ }
pour_cup/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:405a41466c27f52f89ef54633137ddac440e6551bcfe4b83c8fb2fde259ce786
3
+ size 9354050752
pour_cup/policy_postprocessor.json ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ 19
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "ACTION": "QUANTILES",
18
+ "STATE": "QUANTILES",
19
+ "VISUAL": "IDENTITY"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "absolute_actions_processor",
26
+ "config": {
27
+ "enabled": false
28
+ }
29
+ },
30
+ {
31
+ "registry_name": "device_processor",
32
+ "config": {
33
+ "device": "cpu",
34
+ "float_dtype": null
35
+ }
36
+ }
37
+ ]
38
+ }
pour_cup/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:467672c33844ce49e996bd7988cd282f3c5bf559528b7953364a8151bb912333
3
+ size 8884
pour_cup/policy_preprocessor.json ADDED
@@ -0,0 +1,97 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "relative_actions_processor",
16
+ "config": {
17
+ "enabled": false,
18
+ "exclude_joints": [
19
+ "gripper"
20
+ ],
21
+ "action_names": null
22
+ }
23
+ },
24
+ {
25
+ "registry_name": "normalizer_processor",
26
+ "config": {
27
+ "eps": 1e-08,
28
+ "features": {
29
+ "observation.images.third_person": {
30
+ "type": "VISUAL",
31
+ "shape": [
32
+ 3,
33
+ 480,
34
+ 640
35
+ ]
36
+ },
37
+ "observation.images.eye_in_hand": {
38
+ "type": "VISUAL",
39
+ "shape": [
40
+ 3,
41
+ 480,
42
+ 640
43
+ ]
44
+ },
45
+ "observation.state": {
46
+ "type": "STATE",
47
+ "shape": [
48
+ 24
49
+ ]
50
+ },
51
+ "observation.images.empty_camera_0": {
52
+ "type": "VISUAL",
53
+ "shape": [
54
+ 3,
55
+ 224,
56
+ 224
57
+ ]
58
+ },
59
+ "action": {
60
+ "type": "ACTION",
61
+ "shape": [
62
+ 19
63
+ ]
64
+ }
65
+ },
66
+ "norm_map": {
67
+ "ACTION": "QUANTILES",
68
+ "STATE": "QUANTILES",
69
+ "VISUAL": "IDENTITY"
70
+ }
71
+ },
72
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
73
+ },
74
+ {
75
+ "registry_name": "pi05_prepare_state_tokenizer_processor_step",
76
+ "config": {}
77
+ },
78
+ {
79
+ "registry_name": "tokenizer_processor",
80
+ "config": {
81
+ "max_length": 200,
82
+ "task_key": "task",
83
+ "padding_side": "right",
84
+ "padding": "max_length",
85
+ "truncation": true,
86
+ "tokenizer_name": "google/paligemma-3b-pt-224"
87
+ }
88
+ },
89
+ {
90
+ "registry_name": "device_processor",
91
+ "config": {
92
+ "device": "cuda",
93
+ "float_dtype": null
94
+ }
95
+ }
96
+ ]
97
+ }
pour_cup/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dec4b7f10bd35ba91fa08209952f541abc298d8ae8ff60dc7259997ecc499418
3
+ size 8892
pour_cup/train_config.json ADDED
@@ -0,0 +1,276 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "DexSteer/isaaclab_ur7e_3task_fixed_pour_cup_ee",
4
+ "repo_type": "dataset",
5
+ "root": "/data/3task_fixed/pour_cup_ee",
6
+ "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": true,
80
+ "video_backend": "torchcodec",
81
+ "return_uint8": false,
82
+ "depth_output_unit": "mm",
83
+ "streaming": false,
84
+ "eval_split": 0.0
85
+ },
86
+ "env": null,
87
+ "policy": {
88
+ "type": "pi05",
89
+ "n_obs_steps": 1,
90
+ "input_features": {
91
+ "observation.images.third_person": {
92
+ "type": "VISUAL",
93
+ "shape": [
94
+ 3,
95
+ 480,
96
+ 640
97
+ ]
98
+ },
99
+ "observation.images.eye_in_hand": {
100
+ "type": "VISUAL",
101
+ "shape": [
102
+ 3,
103
+ 480,
104
+ 640
105
+ ]
106
+ },
107
+ "observation.state": {
108
+ "type": "STATE",
109
+ "shape": [
110
+ 24
111
+ ]
112
+ },
113
+ "observation.images.empty_camera_0": {
114
+ "type": "VISUAL",
115
+ "shape": [
116
+ 3,
117
+ 224,
118
+ 224
119
+ ]
120
+ }
121
+ },
122
+ "output_features": {
123
+ "action": {
124
+ "type": "ACTION",
125
+ "shape": [
126
+ 19
127
+ ]
128
+ }
129
+ },
130
+ "device": "cuda",
131
+ "use_amp": false,
132
+ "use_peft": false,
133
+ "push_to_hub": false,
134
+ "repo_id": null,
135
+ "private": null,
136
+ "tags": null,
137
+ "license": null,
138
+ "pretrained_path": "lerobot/pi05_base",
139
+ "pretrained_revision": null,
140
+ "paligemma_variant": "gemma_2b",
141
+ "action_expert_variant": "gemma_300m",
142
+ "dtype": "bfloat16",
143
+ "chunk_size": 50,
144
+ "n_action_steps": 25,
145
+ "max_state_dim": 32,
146
+ "max_action_dim": 32,
147
+ "num_inference_steps": 10,
148
+ "time_sampling_beta_alpha": 1.5,
149
+ "time_sampling_beta_beta": 1.0,
150
+ "time_sampling_scale": 0.999,
151
+ "time_sampling_offset": 0.001,
152
+ "min_period": 0.004,
153
+ "max_period": 4.0,
154
+ "use_relative_actions": false,
155
+ "relative_exclude_joints": [
156
+ "gripper"
157
+ ],
158
+ "action_feature_names": [
159
+ "action_0",
160
+ "action_1",
161
+ "action_2",
162
+ "action_3",
163
+ "action_4",
164
+ "action_5",
165
+ "action_6",
166
+ "action_7",
167
+ "action_8",
168
+ "action_9",
169
+ "action_10",
170
+ "action_11",
171
+ "action_12",
172
+ "action_13",
173
+ "action_14",
174
+ "action_15",
175
+ "action_16",
176
+ "action_17",
177
+ "action_18"
178
+ ],
179
+ "rtc_config": null,
180
+ "image_resolution": [
181
+ 224,
182
+ 224
183
+ ],
184
+ "empty_cameras": 1,
185
+ "tokenizer_max_length": 200,
186
+ "normalization_mapping": {
187
+ "ACTION": "QUANTILES",
188
+ "STATE": "QUANTILES",
189
+ "VISUAL": "IDENTITY"
190
+ },
191
+ "gradient_checkpointing": true,
192
+ "compile_model": true,
193
+ "compile_mode": "max-autotune",
194
+ "freeze_vision_encoder": false,
195
+ "train_expert_only": false,
196
+ "optimizer_lr": 2.5e-05,
197
+ "optimizer_betas": [
198
+ 0.9,
199
+ 0.95
200
+ ],
201
+ "optimizer_eps": 1e-08,
202
+ "optimizer_weight_decay": 0.01,
203
+ "optimizer_grad_clip_norm": 1.0,
204
+ "scheduler_warmup_steps": 1000,
205
+ "scheduler_decay_steps": 30000,
206
+ "scheduler_decay_lr": 2.5e-06
207
+ },
208
+ "reward_model": null,
209
+ "output_dir": "/data/pi05-ur7e/outputs/pi05_pour_cup_ee",
210
+ "job_name": "pi05_pour_cup_ee",
211
+ "resume": false,
212
+ "seed": 1000,
213
+ "cudnn_deterministic": false,
214
+ "num_workers": 8,
215
+ "batch_size": 16,
216
+ "prefetch_factor": 4,
217
+ "persistent_workers": true,
218
+ "dataloader_multiprocessing_context": "spawn",
219
+ "steps": 30000,
220
+ "env_eval_freq": 20000,
221
+ "log_freq": 50,
222
+ "eval_steps": 0,
223
+ "max_eval_samples": 0,
224
+ "tolerance_s": 0.0001,
225
+ "save_checkpoint": true,
226
+ "save_freq": 30000,
227
+ "use_policy_training_preset": true,
228
+ "optimizer": {
229
+ "type": "adamw",
230
+ "lr": 2.5e-05,
231
+ "weight_decay": 0.01,
232
+ "grad_clip_norm": 1.0,
233
+ "betas": [
234
+ 0.9,
235
+ 0.95
236
+ ],
237
+ "eps": 1e-08
238
+ },
239
+ "scheduler": {
240
+ "type": "cosine_decay_with_warmup",
241
+ "num_warmup_steps": 1000,
242
+ "num_decay_steps": 30000,
243
+ "peak_lr": 2.5e-05,
244
+ "decay_lr": 2.5e-06
245
+ },
246
+ "eval": {
247
+ "n_episodes": 50,
248
+ "batch_size": 22,
249
+ "use_async_envs": true,
250
+ "recording": false,
251
+ "recording_repo_id": null,
252
+ "recording_private": false
253
+ },
254
+ "wandb": {
255
+ "enable": false,
256
+ "disable_artifact": false,
257
+ "project": "pi05-ur7e",
258
+ "entity": null,
259
+ "notes": null,
260
+ "run_id": null,
261
+ "mode": null,
262
+ "add_tags": true
263
+ },
264
+ "peft": null,
265
+ "job": {
266
+ "target": null,
267
+ "image": "huggingface/lerobot-gpu:latest",
268
+ "timeout": "2d",
269
+ "detach": false,
270
+ "tags": []
271
+ },
272
+ "save_checkpoint_to_hub": false,
273
+ "sample_weighting": null,
274
+ "rename_map": {},
275
+ "checkpoint_path": null
276
+ }