Add files using upload-large-folder tool
Browse files- checkpoints/005000/pretrained_model/config.json +101 -0
- checkpoints/005000/pretrained_model/policy_postprocessor.json +32 -0
- checkpoints/005000/pretrained_model/policy_preprocessor.json +89 -0
- checkpoints/005000/pretrained_model/train_config.json +241 -0
- checkpoints/005000/training_state/optimizer_param_groups.json +521 -0
- checkpoints/005000/training_state/scheduler_state.json +15 -0
- checkpoints/005000/training_state/training_step.json +3 -0
- checkpoints/010000/pretrained_model/config.json +101 -0
- checkpoints/010000/pretrained_model/model.safetensors +3 -0
- checkpoints/010000/pretrained_model/policy_postprocessor.json +32 -0
- checkpoints/010000/pretrained_model/policy_preprocessor.json +89 -0
- checkpoints/010000/pretrained_model/train_config.json +241 -0
- checkpoints/010000/training_state/optimizer_param_groups.json +521 -0
- checkpoints/010000/training_state/scheduler_state.json +15 -0
- checkpoints/010000/training_state/training_step.json +3 -0
- checkpoints/015000/pretrained_model/config.json +101 -0
- checkpoints/015000/pretrained_model/policy_postprocessor.json +32 -0
- checkpoints/015000/pretrained_model/policy_preprocessor.json +89 -0
- checkpoints/015000/pretrained_model/train_config.json +241 -0
- checkpoints/015000/training_state/optimizer_param_groups.json +521 -0
- checkpoints/015000/training_state/scheduler_state.json +15 -0
- checkpoints/015000/training_state/training_step.json +3 -0
- checkpoints/020000/pretrained_model/config.json +101 -0
- checkpoints/020000/pretrained_model/policy_postprocessor.json +32 -0
- checkpoints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- checkpoints/020000/pretrained_model/policy_preprocessor.json +89 -0
- checkpoints/020000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors +3 -0
- checkpoints/020000/pretrained_model/train_config.json +241 -0
- checkpoints/020000/training_state/optimizer_param_groups.json +521 -0
- checkpoints/020000/training_state/optimizer_state.safetensors +3 -0
- checkpoints/020000/training_state/rng_state.safetensors +3 -0
- checkpoints/020000/training_state/scheduler_state.json +15 -0
- checkpoints/020000/training_state/training_step.json +3 -0
- checkpoints/025000/pretrained_model/config.json +101 -0
- checkpoints/025000/pretrained_model/policy_postprocessor.json +32 -0
- checkpoints/025000/pretrained_model/policy_preprocessor.json +89 -0
- checkpoints/025000/pretrained_model/train_config.json +241 -0
- checkpoints/025000/training_state/optimizer_param_groups.json +521 -0
- checkpoints/025000/training_state/scheduler_state.json +15 -0
- checkpoints/025000/training_state/training_step.json +3 -0
- checkpoints/030000/pretrained_model/config.json +101 -0
- checkpoints/030000/pretrained_model/policy_postprocessor.json +32 -0
- checkpoints/030000/pretrained_model/policy_preprocessor.json +89 -0
- checkpoints/030000/pretrained_model/train_config.json +241 -0
- checkpoints/030000/training_state/optimizer_param_groups.json +521 -0
- checkpoints/030000/training_state/optimizer_state.safetensors +3 -0
- checkpoints/030000/training_state/rng_state.safetensors +3 -0
- checkpoints/030000/training_state/scheduler_state.json +15 -0
- checkpoints/030000/training_state/training_step.json +3 -0
- loss_log.jsonl +306 -0
checkpoints/005000/pretrained_model/config.json
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{
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"type": "smolvla",
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"n_obs_steps": 1,
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"input_features": {
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"observation.state": {
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"type": "STATE",
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"shape": [
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6
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]
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},
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"observation.images.camera1": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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]
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},
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"observation.images.camera2": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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| 24 |
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256
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]
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},
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| 27 |
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"observation.images.camera3": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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6
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| 41 |
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]
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}
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},
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| 44 |
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"device": "cuda",
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| 45 |
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"use_amp": false,
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| 46 |
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"use_peft": false,
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| 47 |
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"push_to_hub": true,
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| 48 |
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"repo_id": "ehalicki/eth-rl-so101-may18-policies",
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| 49 |
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"private": null,
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| 50 |
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"tags": null,
|
| 51 |
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"license": null,
|
| 52 |
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"pretrained_path": "lerobot/smolvla_base",
|
| 53 |
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"chunk_size": 50,
|
| 54 |
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"n_action_steps": 50,
|
| 55 |
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"normalization_mapping": {
|
| 56 |
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"VISUAL": "IDENTITY",
|
| 57 |
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"STATE": "MEAN_STD",
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| 58 |
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"ACTION": "MEAN_STD"
|
| 59 |
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},
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| 60 |
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"max_state_dim": 32,
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| 61 |
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"max_action_dim": 32,
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| 62 |
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"resize_imgs_with_padding": [
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| 63 |
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512,
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| 64 |
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512
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| 65 |
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],
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| 66 |
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"empty_cameras": 0,
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| 67 |
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"adapt_to_pi_aloha": false,
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| 68 |
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"use_delta_joint_actions_aloha": false,
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| 69 |
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"tokenizer_max_length": 48,
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| 70 |
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"num_steps": 10,
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| 71 |
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"use_cache": true,
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| 72 |
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"freeze_vision_encoder": true,
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| 73 |
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"train_expert_only": true,
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| 74 |
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"train_state_proj": true,
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| 75 |
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"optimizer_lr": 0.0001,
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| 76 |
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"optimizer_betas": [
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| 77 |
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0.9,
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| 78 |
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0.95
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| 79 |
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],
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| 80 |
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"optimizer_eps": 1e-08,
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| 81 |
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"optimizer_weight_decay": 1e-10,
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| 82 |
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"optimizer_grad_clip_norm": 10.0,
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| 83 |
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"scheduler_warmup_steps": 1000,
|
| 84 |
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"scheduler_decay_steps": 30000,
|
| 85 |
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"scheduler_decay_lr": 2.5e-06,
|
| 86 |
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"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
|
| 87 |
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"load_vlm_weights": true,
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| 88 |
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"add_image_special_tokens": false,
|
| 89 |
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"attention_mode": "cross_attn",
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| 90 |
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"prefix_length": 0,
|
| 91 |
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"pad_language_to": "max_length",
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| 92 |
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"num_expert_layers": 0,
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| 93 |
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"num_vlm_layers": 16,
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| 94 |
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"self_attn_every_n_layers": 2,
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| 95 |
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"expert_width_multiplier": 0.75,
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| 96 |
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"min_period": 0.004,
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| 97 |
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"max_period": 4.0,
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| 98 |
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"rtc_config": null,
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| 99 |
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"compile_model": false,
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| 100 |
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"compile_mode": "max-autotune"
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| 101 |
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}
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checkpoints/005000/pretrained_model/policy_postprocessor.json
ADDED
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@@ -0,0 +1,32 @@
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{
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| 2 |
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"name": "policy_postprocessor",
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| 3 |
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"steps": [
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| 4 |
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{
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| 5 |
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"registry_name": "unnormalizer_processor",
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| 6 |
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"config": {
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| 7 |
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"eps": 1e-08,
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| 8 |
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"features": {
|
| 9 |
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"action": {
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| 10 |
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"type": "ACTION",
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| 11 |
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"shape": [
|
| 12 |
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6
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| 13 |
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]
|
| 14 |
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}
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| 15 |
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},
|
| 16 |
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"norm_map": {
|
| 17 |
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"VISUAL": "IDENTITY",
|
| 18 |
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"STATE": "MEAN_STD",
|
| 19 |
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"ACTION": "MEAN_STD"
|
| 20 |
+
}
|
| 21 |
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},
|
| 22 |
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
|
| 23 |
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},
|
| 24 |
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{
|
| 25 |
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"registry_name": "device_processor",
|
| 26 |
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"config": {
|
| 27 |
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"device": "cpu",
|
| 28 |
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"float_dtype": null
|
| 29 |
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}
|
| 30 |
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}
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| 31 |
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]
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| 32 |
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}
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checkpoints/005000/pretrained_model/policy_preprocessor.json
ADDED
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@@ -0,0 +1,89 @@
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| 1 |
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{
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| 2 |
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"name": "policy_preprocessor",
|
| 3 |
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"steps": [
|
| 4 |
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{
|
| 5 |
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"registry_name": "rename_observations_processor",
|
| 6 |
+
"config": {
|
| 7 |
+
"rename_map": {
|
| 8 |
+
"observation.images.wrist_camera": "observation.images.camera1"
|
| 9 |
+
}
|
| 10 |
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}
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"registry_name": "to_batch_processor",
|
| 14 |
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"config": {}
|
| 15 |
+
},
|
| 16 |
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{
|
| 17 |
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"registry_name": "smolvla_new_line_processor",
|
| 18 |
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"config": {}
|
| 19 |
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},
|
| 20 |
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{
|
| 21 |
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"registry_name": "tokenizer_processor",
|
| 22 |
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"config": {
|
| 23 |
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"max_length": 48,
|
| 24 |
+
"task_key": "task",
|
| 25 |
+
"padding_side": "right",
|
| 26 |
+
"padding": "max_length",
|
| 27 |
+
"truncation": true,
|
| 28 |
+
"tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct"
|
| 29 |
+
}
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"registry_name": "device_processor",
|
| 33 |
+
"config": {
|
| 34 |
+
"device": "cuda",
|
| 35 |
+
"float_dtype": null
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"registry_name": "normalizer_processor",
|
| 40 |
+
"config": {
|
| 41 |
+
"eps": 1e-08,
|
| 42 |
+
"features": {
|
| 43 |
+
"observation.state": {
|
| 44 |
+
"type": "STATE",
|
| 45 |
+
"shape": [
|
| 46 |
+
6
|
| 47 |
+
]
|
| 48 |
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},
|
| 49 |
+
"observation.images.camera1": {
|
| 50 |
+
"type": "VISUAL",
|
| 51 |
+
"shape": [
|
| 52 |
+
3,
|
| 53 |
+
256,
|
| 54 |
+
256
|
| 55 |
+
]
|
| 56 |
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},
|
| 57 |
+
"observation.images.camera2": {
|
| 58 |
+
"type": "VISUAL",
|
| 59 |
+
"shape": [
|
| 60 |
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3,
|
| 61 |
+
256,
|
| 62 |
+
256
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
"observation.images.camera3": {
|
| 66 |
+
"type": "VISUAL",
|
| 67 |
+
"shape": [
|
| 68 |
+
3,
|
| 69 |
+
256,
|
| 70 |
+
256
|
| 71 |
+
]
|
| 72 |
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},
|
| 73 |
+
"action": {
|
| 74 |
+
"type": "ACTION",
|
| 75 |
+
"shape": [
|
| 76 |
+
6
|
| 77 |
+
]
|
| 78 |
+
}
|
| 79 |
+
},
|
| 80 |
+
"norm_map": {
|
| 81 |
+
"VISUAL": "IDENTITY",
|
| 82 |
+
"STATE": "MEAN_STD",
|
| 83 |
+
"ACTION": "MEAN_STD"
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
+
"state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
|
| 87 |
+
}
|
| 88 |
+
]
|
| 89 |
+
}
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checkpoints/005000/pretrained_model/train_config.json
ADDED
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@@ -0,0 +1,241 @@
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checkpoints/005000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,521 @@
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| 1 |
+
[
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| 2 |
+
{
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| 3 |
+
"lr": 9.34687384344914e-05,
|
| 4 |
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| 5 |
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| 6 |
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| 7 |
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],
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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"foreach": null,
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| 13 |
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"capturable": false,
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| 14 |
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"differentiable": false,
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| 15 |
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"fused": null,
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| 16 |
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"decoupled_weight_decay": true,
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| 17 |
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"initial_lr": 0.0001,
|
| 18 |
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| 19 |
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|
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|
checkpoints/005000/training_state/scheduler_state.json
ADDED
|
@@ -0,0 +1,15 @@
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|
|
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
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"base_lrs": [
|
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|
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| 7 |
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|
| 8 |
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"_get_lr_called_within_step": false,
|
| 9 |
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"_last_lr": [
|
| 10 |
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|
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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}
|
checkpoints/005000/training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"step": 5000
|
| 3 |
+
}
|
checkpoints/010000/pretrained_model/config.json
ADDED
|
@@ -0,0 +1,101 @@
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
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|
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|
|
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|
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|
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|
|
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|
|
|
|
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|
|
|
|
|
|
| 1 |
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{
|
| 2 |
+
"type": "smolvla",
|
| 3 |
+
"n_obs_steps": 1,
|
| 4 |
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"input_features": {
|
| 5 |
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"observation.state": {
|
| 6 |
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"type": "STATE",
|
| 7 |
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"shape": [
|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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"type": "VISUAL",
|
| 13 |
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"shape": [
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| 14 |
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|
| 15 |
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|
| 16 |
+
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|
| 17 |
+
]
|
| 18 |
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},
|
| 19 |
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"observation.images.camera2": {
|
| 20 |
+
"type": "VISUAL",
|
| 21 |
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"shape": [
|
| 22 |
+
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|
| 23 |
+
256,
|
| 24 |
+
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|
| 25 |
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|
| 26 |
+
},
|
| 27 |
+
"observation.images.camera3": {
|
| 28 |
+
"type": "VISUAL",
|
| 29 |
+
"shape": [
|
| 30 |
+
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|
| 31 |
+
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|
| 32 |
+
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|
| 33 |
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|
| 34 |
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|
| 35 |
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},
|
| 36 |
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"output_features": {
|
| 37 |
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|
| 38 |
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"type": "ACTION",
|
| 39 |
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"shape": [
|
| 40 |
+
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|
| 41 |
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]
|
| 42 |
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}
|
| 43 |
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},
|
| 44 |
+
"device": "cuda",
|
| 45 |
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"use_amp": false,
|
| 46 |
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"use_peft": false,
|
| 47 |
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"push_to_hub": true,
|
| 48 |
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"repo_id": "ehalicki/eth-rl-so101-may18-policies",
|
| 49 |
+
"private": null,
|
| 50 |
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"tags": null,
|
| 51 |
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"license": null,
|
| 52 |
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"pretrained_path": "lerobot/smolvla_base",
|
| 53 |
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"chunk_size": 50,
|
| 54 |
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"n_action_steps": 50,
|
| 55 |
+
"normalization_mapping": {
|
| 56 |
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"VISUAL": "IDENTITY",
|
| 57 |
+
"STATE": "MEAN_STD",
|
| 58 |
+
"ACTION": "MEAN_STD"
|
| 59 |
+
},
|
| 60 |
+
"max_state_dim": 32,
|
| 61 |
+
"max_action_dim": 32,
|
| 62 |
+
"resize_imgs_with_padding": [
|
| 63 |
+
512,
|
| 64 |
+
512
|
| 65 |
+
],
|
| 66 |
+
"empty_cameras": 0,
|
| 67 |
+
"adapt_to_pi_aloha": false,
|
| 68 |
+
"use_delta_joint_actions_aloha": false,
|
| 69 |
+
"tokenizer_max_length": 48,
|
| 70 |
+
"num_steps": 10,
|
| 71 |
+
"use_cache": true,
|
| 72 |
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"freeze_vision_encoder": true,
|
| 73 |
+
"train_expert_only": true,
|
| 74 |
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"train_state_proj": true,
|
| 75 |
+
"optimizer_lr": 0.0001,
|
| 76 |
+
"optimizer_betas": [
|
| 77 |
+
0.9,
|
| 78 |
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|
| 79 |
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],
|
| 80 |
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"optimizer_eps": 1e-08,
|
| 81 |
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"optimizer_weight_decay": 1e-10,
|
| 82 |
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"optimizer_grad_clip_norm": 10.0,
|
| 83 |
+
"scheduler_warmup_steps": 1000,
|
| 84 |
+
"scheduler_decay_steps": 30000,
|
| 85 |
+
"scheduler_decay_lr": 2.5e-06,
|
| 86 |
+
"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
|
| 87 |
+
"load_vlm_weights": true,
|
| 88 |
+
"add_image_special_tokens": false,
|
| 89 |
+
"attention_mode": "cross_attn",
|
| 90 |
+
"prefix_length": 0,
|
| 91 |
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"pad_language_to": "max_length",
|
| 92 |
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"num_expert_layers": 0,
|
| 93 |
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"num_vlm_layers": 16,
|
| 94 |
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"self_attn_every_n_layers": 2,
|
| 95 |
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"expert_width_multiplier": 0.75,
|
| 96 |
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"min_period": 0.004,
|
| 97 |
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"max_period": 4.0,
|
| 98 |
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"rtc_config": null,
|
| 99 |
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"compile_model": false,
|
| 100 |
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"compile_mode": "max-autotune"
|
| 101 |
+
}
|
checkpoints/010000/pretrained_model/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 906712520
|
checkpoints/010000/pretrained_model/policy_postprocessor.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"name": "policy_postprocessor",
|
| 3 |
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"steps": [
|
| 4 |
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{
|
| 5 |
+
"registry_name": "unnormalizer_processor",
|
| 6 |
+
"config": {
|
| 7 |
+
"eps": 1e-08,
|
| 8 |
+
"features": {
|
| 9 |
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"action": {
|
| 10 |
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"type": "ACTION",
|
| 11 |
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"shape": [
|
| 12 |
+
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| 13 |
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|
| 14 |
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}
|
| 15 |
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|
| 16 |
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"norm_map": {
|
| 17 |
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"VISUAL": "IDENTITY",
|
| 18 |
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"STATE": "MEAN_STD",
|
| 19 |
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"ACTION": "MEAN_STD"
|
| 20 |
+
}
|
| 21 |
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},
|
| 22 |
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
|
| 23 |
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},
|
| 24 |
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{
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| 25 |
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"registry_name": "device_processor",
|
| 26 |
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|
| 27 |
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"device": "cpu",
|
| 28 |
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|
| 29 |
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}
|
| 30 |
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}
|
| 31 |
+
]
|
| 32 |
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}
|
checkpoints/010000/pretrained_model/policy_preprocessor.json
ADDED
|
@@ -0,0 +1,89 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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| 5 |
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|
| 6 |
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|
| 7 |
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"rename_map": {
|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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{
|
| 13 |
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"registry_name": "to_batch_processor",
|
| 14 |
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|
| 15 |
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|
| 16 |
+
{
|
| 17 |
+
"registry_name": "smolvla_new_line_processor",
|
| 18 |
+
"config": {}
|
| 19 |
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|
| 20 |
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{
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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{
|
| 32 |
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|
| 33 |
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"config": {
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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"config": {
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
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|
| 55 |
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|
| 56 |
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| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
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|
| 70 |
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|
| 71 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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}
|
checkpoints/010000/pretrained_model/train_config.json
ADDED
|
@@ -0,0 +1,241 @@
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}
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checkpoints/010000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,521 @@
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| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"lr": 7.5625e-05,
|
| 4 |
+
"betas": [
|
| 5 |
+
0.9,
|
| 6 |
+
0.95
|
| 7 |
+
],
|
| 8 |
+
"eps": 1e-08,
|
| 9 |
+
"weight_decay": 1e-10,
|
| 10 |
+
"amsgrad": false,
|
| 11 |
+
"maximize": false,
|
| 12 |
+
"foreach": null,
|
| 13 |
+
"capturable": false,
|
| 14 |
+
"differentiable": false,
|
| 15 |
+
"fused": null,
|
| 16 |
+
"decoupled_weight_decay": true,
|
| 17 |
+
"initial_lr": 0.0001,
|
| 18 |
+
"params": [
|
| 19 |
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0,
|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
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|
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|
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|
| 33 |
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|
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|
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|
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|
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|
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|
| 519 |
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|
| 520 |
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|
| 521 |
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|
checkpoints/010000/training_state/scheduler_state.json
ADDED
|
@@ -0,0 +1,15 @@
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base_lrs": [
|
| 3 |
+
0.0001
|
| 4 |
+
],
|
| 5 |
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"last_epoch": 10000,
|
| 6 |
+
"_step_count": 10001,
|
| 7 |
+
"_is_initial": false,
|
| 8 |
+
"_get_lr_called_within_step": false,
|
| 9 |
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"_last_lr": [
|
| 10 |
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7.5625e-05
|
| 11 |
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],
|
| 12 |
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"lr_lambdas": [
|
| 13 |
+
null
|
| 14 |
+
]
|
| 15 |
+
}
|
checkpoints/010000/training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"step": 10000
|
| 3 |
+
}
|
checkpoints/015000/pretrained_model/config.json
ADDED
|
@@ -0,0 +1,101 @@
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
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"action": {
|
| 38 |
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"type": "ACTION",
|
| 39 |
+
"shape": [
|
| 40 |
+
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|
| 41 |
+
]
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
"device": "cuda",
|
| 45 |
+
"use_amp": false,
|
| 46 |
+
"use_peft": false,
|
| 47 |
+
"push_to_hub": true,
|
| 48 |
+
"repo_id": "ehalicki/eth-rl-so101-may18-policies",
|
| 49 |
+
"private": null,
|
| 50 |
+
"tags": null,
|
| 51 |
+
"license": null,
|
| 52 |
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"pretrained_path": "lerobot/smolvla_base",
|
| 53 |
+
"chunk_size": 50,
|
| 54 |
+
"n_action_steps": 50,
|
| 55 |
+
"normalization_mapping": {
|
| 56 |
+
"VISUAL": "IDENTITY",
|
| 57 |
+
"STATE": "MEAN_STD",
|
| 58 |
+
"ACTION": "MEAN_STD"
|
| 59 |
+
},
|
| 60 |
+
"max_state_dim": 32,
|
| 61 |
+
"max_action_dim": 32,
|
| 62 |
+
"resize_imgs_with_padding": [
|
| 63 |
+
512,
|
| 64 |
+
512
|
| 65 |
+
],
|
| 66 |
+
"empty_cameras": 0,
|
| 67 |
+
"adapt_to_pi_aloha": false,
|
| 68 |
+
"use_delta_joint_actions_aloha": false,
|
| 69 |
+
"tokenizer_max_length": 48,
|
| 70 |
+
"num_steps": 10,
|
| 71 |
+
"use_cache": true,
|
| 72 |
+
"freeze_vision_encoder": true,
|
| 73 |
+
"train_expert_only": true,
|
| 74 |
+
"train_state_proj": true,
|
| 75 |
+
"optimizer_lr": 0.0001,
|
| 76 |
+
"optimizer_betas": [
|
| 77 |
+
0.9,
|
| 78 |
+
0.95
|
| 79 |
+
],
|
| 80 |
+
"optimizer_eps": 1e-08,
|
| 81 |
+
"optimizer_weight_decay": 1e-10,
|
| 82 |
+
"optimizer_grad_clip_norm": 10.0,
|
| 83 |
+
"scheduler_warmup_steps": 1000,
|
| 84 |
+
"scheduler_decay_steps": 30000,
|
| 85 |
+
"scheduler_decay_lr": 2.5e-06,
|
| 86 |
+
"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
|
| 87 |
+
"load_vlm_weights": true,
|
| 88 |
+
"add_image_special_tokens": false,
|
| 89 |
+
"attention_mode": "cross_attn",
|
| 90 |
+
"prefix_length": 0,
|
| 91 |
+
"pad_language_to": "max_length",
|
| 92 |
+
"num_expert_layers": 0,
|
| 93 |
+
"num_vlm_layers": 16,
|
| 94 |
+
"self_attn_every_n_layers": 2,
|
| 95 |
+
"expert_width_multiplier": 0.75,
|
| 96 |
+
"min_period": 0.004,
|
| 97 |
+
"max_period": 4.0,
|
| 98 |
+
"rtc_config": null,
|
| 99 |
+
"compile_model": false,
|
| 100 |
+
"compile_mode": "max-autotune"
|
| 101 |
+
}
|
checkpoints/015000/pretrained_model/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 |
+
}
|
checkpoints/015000/pretrained_model/policy_preprocessor.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"name": "policy_preprocessor",
|
| 3 |
+
"steps": [
|
| 4 |
+
{
|
| 5 |
+
"registry_name": "rename_observations_processor",
|
| 6 |
+
"config": {
|
| 7 |
+
"rename_map": {
|
| 8 |
+
"observation.images.wrist_camera": "observation.images.camera1"
|
| 9 |
+
}
|
| 10 |
+
}
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"registry_name": "to_batch_processor",
|
| 14 |
+
"config": {}
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"registry_name": "smolvla_new_line_processor",
|
| 18 |
+
"config": {}
|
| 19 |
+
},
|
| 20 |
+
{
|
| 21 |
+
"registry_name": "tokenizer_processor",
|
| 22 |
+
"config": {
|
| 23 |
+
"max_length": 48,
|
| 24 |
+
"task_key": "task",
|
| 25 |
+
"padding_side": "right",
|
| 26 |
+
"padding": "max_length",
|
| 27 |
+
"truncation": true,
|
| 28 |
+
"tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct"
|
| 29 |
+
}
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"registry_name": "device_processor",
|
| 33 |
+
"config": {
|
| 34 |
+
"device": "cuda",
|
| 35 |
+
"float_dtype": null
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"registry_name": "normalizer_processor",
|
| 40 |
+
"config": {
|
| 41 |
+
"eps": 1e-08,
|
| 42 |
+
"features": {
|
| 43 |
+
"observation.state": {
|
| 44 |
+
"type": "STATE",
|
| 45 |
+
"shape": [
|
| 46 |
+
6
|
| 47 |
+
]
|
| 48 |
+
},
|
| 49 |
+
"observation.images.camera1": {
|
| 50 |
+
"type": "VISUAL",
|
| 51 |
+
"shape": [
|
| 52 |
+
3,
|
| 53 |
+
256,
|
| 54 |
+
256
|
| 55 |
+
]
|
| 56 |
+
},
|
| 57 |
+
"observation.images.camera2": {
|
| 58 |
+
"type": "VISUAL",
|
| 59 |
+
"shape": [
|
| 60 |
+
3,
|
| 61 |
+
256,
|
| 62 |
+
256
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
"observation.images.camera3": {
|
| 66 |
+
"type": "VISUAL",
|
| 67 |
+
"shape": [
|
| 68 |
+
3,
|
| 69 |
+
256,
|
| 70 |
+
256
|
| 71 |
+
]
|
| 72 |
+
},
|
| 73 |
+
"action": {
|
| 74 |
+
"type": "ACTION",
|
| 75 |
+
"shape": [
|
| 76 |
+
6
|
| 77 |
+
]
|
| 78 |
+
}
|
| 79 |
+
},
|
| 80 |
+
"norm_map": {
|
| 81 |
+
"VISUAL": "IDENTITY",
|
| 82 |
+
"STATE": "MEAN_STD",
|
| 83 |
+
"ACTION": "MEAN_STD"
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
+
"state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
|
| 87 |
+
}
|
| 88 |
+
]
|
| 89 |
+
}
|
checkpoints/015000/pretrained_model/train_config.json
ADDED
|
@@ -0,0 +1,241 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"dataset": {
|
| 3 |
+
"repo_id": "ehalicki/eth-rl-so101-combined",
|
| 4 |
+
"root": null,
|
| 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": "main",
|
| 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 |
+
"use_peft": false,
|
| 129 |
+
"push_to_hub": true,
|
| 130 |
+
"repo_id": "ehalicki/eth-rl-so101-may18-policies",
|
| 131 |
+
"private": null,
|
| 132 |
+
"tags": null,
|
| 133 |
+
"license": null,
|
| 134 |
+
"pretrained_path": "lerobot/smolvla_base",
|
| 135 |
+
"chunk_size": 50,
|
| 136 |
+
"n_action_steps": 50,
|
| 137 |
+
"normalization_mapping": {
|
| 138 |
+
"VISUAL": "IDENTITY",
|
| 139 |
+
"STATE": "MEAN_STD",
|
| 140 |
+
"ACTION": "MEAN_STD"
|
| 141 |
+
},
|
| 142 |
+
"max_state_dim": 32,
|
| 143 |
+
"max_action_dim": 32,
|
| 144 |
+
"resize_imgs_with_padding": [
|
| 145 |
+
512,
|
| 146 |
+
512
|
| 147 |
+
],
|
| 148 |
+
"empty_cameras": 0,
|
| 149 |
+
"adapt_to_pi_aloha": false,
|
| 150 |
+
"use_delta_joint_actions_aloha": false,
|
| 151 |
+
"tokenizer_max_length": 48,
|
| 152 |
+
"num_steps": 10,
|
| 153 |
+
"use_cache": true,
|
| 154 |
+
"freeze_vision_encoder": true,
|
| 155 |
+
"train_expert_only": true,
|
| 156 |
+
"train_state_proj": true,
|
| 157 |
+
"optimizer_lr": 0.0001,
|
| 158 |
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| 159 |
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| 186 |
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|
| 199 |
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|
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|
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|
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|
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|
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|
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|
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checkpoints/015000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,521 @@
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|
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|
| 490 |
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|
| 491 |
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|
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|
| 493 |
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|
| 494 |
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|
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|
| 496 |
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|
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|
| 498 |
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|
| 499 |
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|
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|
| 501 |
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|
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|
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| 509 |
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|
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|
| 511 |
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|
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|
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|
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|
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| 517 |
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498,
|
| 518 |
+
499
|
| 519 |
+
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|
| 520 |
+
}
|
| 521 |
+
]
|
checkpoints/015000/training_state/scheduler_state.json
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base_lrs": [
|
| 3 |
+
0.0001
|
| 4 |
+
],
|
| 5 |
+
"last_epoch": 15000,
|
| 6 |
+
"_step_count": 15001,
|
| 7 |
+
"_is_initial": false,
|
| 8 |
+
"_get_lr_called_within_step": false,
|
| 9 |
+
"_last_lr": [
|
| 10 |
+
5.125e-05
|
| 11 |
+
],
|
| 12 |
+
"lr_lambdas": [
|
| 13 |
+
null
|
| 14 |
+
]
|
| 15 |
+
}
|
checkpoints/015000/training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"step": 15000
|
| 3 |
+
}
|
checkpoints/020000/pretrained_model/config.json
ADDED
|
@@ -0,0 +1,101 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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"tags": null,
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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"n_action_steps": 50,
|
| 55 |
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"normalization_mapping": {
|
| 56 |
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"VISUAL": "IDENTITY",
|
| 57 |
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"STATE": "MEAN_STD",
|
| 58 |
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"ACTION": "MEAN_STD"
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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],
|
| 66 |
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|
| 67 |
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"adapt_to_pi_aloha": false,
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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"train_expert_only": true,
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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"scheduler_decay_lr": 2.5e-06,
|
| 86 |
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"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
|
| 87 |
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"load_vlm_weights": true,
|
| 88 |
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"add_image_special_tokens": false,
|
| 89 |
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"attention_mode": "cross_attn",
|
| 90 |
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"prefix_length": 0,
|
| 91 |
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"pad_language_to": "max_length",
|
| 92 |
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|
| 93 |
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|
| 94 |
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| 95 |
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|
| 96 |
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|
| 97 |
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|
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|
| 99 |
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|
| 100 |
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"compile_mode": "max-autotune"
|
| 101 |
+
}
|
checkpoints/020000/pretrained_model/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 |
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"config": {
|
| 27 |
+
"device": "cpu",
|
| 28 |
+
"float_dtype": null
|
| 29 |
+
}
|
| 30 |
+
}
|
| 31 |
+
]
|
| 32 |
+
}
|
checkpoints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
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|
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|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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|
| 3 |
+
size 6632
|
checkpoints/020000/pretrained_model/policy_preprocessor.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"name": "policy_preprocessor",
|
| 3 |
+
"steps": [
|
| 4 |
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{
|
| 5 |
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"registry_name": "rename_observations_processor",
|
| 6 |
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"config": {
|
| 7 |
+
"rename_map": {
|
| 8 |
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"observation.images.wrist_camera": "observation.images.camera1"
|
| 9 |
+
}
|
| 10 |
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}
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"registry_name": "to_batch_processor",
|
| 14 |
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"config": {}
|
| 15 |
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},
|
| 16 |
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{
|
| 17 |
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"registry_name": "smolvla_new_line_processor",
|
| 18 |
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"config": {}
|
| 19 |
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},
|
| 20 |
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{
|
| 21 |
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"registry_name": "tokenizer_processor",
|
| 22 |
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"config": {
|
| 23 |
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"max_length": 48,
|
| 24 |
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"task_key": "task",
|
| 25 |
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|
| 26 |
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|
| 27 |
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"truncation": true,
|
| 28 |
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"tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct"
|
| 29 |
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}
|
| 30 |
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},
|
| 31 |
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{
|
| 32 |
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"registry_name": "device_processor",
|
| 33 |
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"config": {
|
| 34 |
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"device": "cuda",
|
| 35 |
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"float_dtype": null
|
| 36 |
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}
|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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"registry_name": "normalizer_processor",
|
| 40 |
+
"config": {
|
| 41 |
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"eps": 1e-08,
|
| 42 |
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"features": {
|
| 43 |
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"observation.state": {
|
| 44 |
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"type": "STATE",
|
| 45 |
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"shape": [
|
| 46 |
+
6
|
| 47 |
+
]
|
| 48 |
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},
|
| 49 |
+
"observation.images.camera1": {
|
| 50 |
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"type": "VISUAL",
|
| 51 |
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"shape": [
|
| 52 |
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|
| 53 |
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256,
|
| 54 |
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256
|
| 55 |
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|
| 56 |
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},
|
| 57 |
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"observation.images.camera2": {
|
| 58 |
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"type": "VISUAL",
|
| 59 |
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"shape": [
|
| 60 |
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|
| 61 |
+
256,
|
| 62 |
+
256
|
| 63 |
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|
| 64 |
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},
|
| 65 |
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"observation.images.camera3": {
|
| 66 |
+
"type": "VISUAL",
|
| 67 |
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"shape": [
|
| 68 |
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3,
|
| 69 |
+
256,
|
| 70 |
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256
|
| 71 |
+
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|
| 72 |
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|
| 73 |
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"action": {
|
| 74 |
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|
| 75 |
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"shape": [
|
| 76 |
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6
|
| 77 |
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|
| 78 |
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|
| 79 |
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},
|
| 80 |
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"norm_map": {
|
| 81 |
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"VISUAL": "IDENTITY",
|
| 82 |
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"STATE": "MEAN_STD",
|
| 83 |
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"ACTION": "MEAN_STD"
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
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"state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
|
| 87 |
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}
|
| 88 |
+
]
|
| 89 |
+
}
|
checkpoints/020000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
+
size 6632
|
checkpoints/020000/pretrained_model/train_config.json
ADDED
|
@@ -0,0 +1,241 @@
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|
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|
|
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|
|
|
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|
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|
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|
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|
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|
|
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|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
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|
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|
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|
| 1 |
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{
|
| 2 |
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"dataset": {
|
| 3 |
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| 4 |
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| 22 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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checkpoints/020000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,521 @@
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| 1 |
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[
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| 2 |
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checkpoints/020000/training_state/optimizer_state.safetensors
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checkpoints/020000/training_state/rng_state.safetensors
ADDED
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checkpoints/020000/training_state/scheduler_state.json
ADDED
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checkpoints/020000/training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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{
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"step": 20000
|
| 3 |
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|
checkpoints/025000/pretrained_model/config.json
ADDED
|
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
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|
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| 19 |
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|
| 20 |
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|
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|
| 22 |
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|
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|
| 24 |
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|
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|
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
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|
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|
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|
| 39 |
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|
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
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|
| 53 |
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|
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
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|
| 62 |
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|
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|
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|
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
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|
| 74 |
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|
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|
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|
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|
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|
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|
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|
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|
| 82 |
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|
| 83 |
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"scheduler_warmup_steps": 1000,
|
| 84 |
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"scheduler_decay_steps": 30000,
|
| 85 |
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"scheduler_decay_lr": 2.5e-06,
|
| 86 |
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"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
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|
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|
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|
| 94 |
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|
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|
| 97 |
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|
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|
| 99 |
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|
| 100 |
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"compile_mode": "max-autotune"
|
| 101 |
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}
|
checkpoints/025000/pretrained_model/policy_postprocessor.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
| 1 |
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{
|
| 2 |
+
"name": "policy_postprocessor",
|
| 3 |
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"steps": [
|
| 4 |
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{
|
| 5 |
+
"registry_name": "unnormalizer_processor",
|
| 6 |
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"config": {
|
| 7 |
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"eps": 1e-08,
|
| 8 |
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"features": {
|
| 9 |
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|
| 10 |
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|
| 11 |
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| 12 |
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| 13 |
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|
| 14 |
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|
| 15 |
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| 16 |
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|
| 17 |
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"VISUAL": "IDENTITY",
|
| 18 |
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|
| 19 |
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"ACTION": "MEAN_STD"
|
| 20 |
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}
|
| 21 |
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},
|
| 22 |
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
|
| 23 |
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},
|
| 24 |
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{
|
| 25 |
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"registry_name": "device_processor",
|
| 26 |
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|
| 27 |
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|
| 28 |
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"float_dtype": null
|
| 29 |
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}
|
| 30 |
+
}
|
| 31 |
+
]
|
| 32 |
+
}
|
checkpoints/025000/pretrained_model/policy_preprocessor.json
ADDED
|
@@ -0,0 +1,89 @@
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|
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|
| 1 |
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{
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| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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"rename_map": {
|
| 8 |
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"observation.images.wrist_camera": "observation.images.camera1"
|
| 9 |
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}
|
| 10 |
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}
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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|
| 14 |
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|
| 15 |
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},
|
| 16 |
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{
|
| 17 |
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"registry_name": "smolvla_new_line_processor",
|
| 18 |
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"config": {}
|
| 19 |
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},
|
| 20 |
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{
|
| 21 |
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"registry_name": "tokenizer_processor",
|
| 22 |
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"config": {
|
| 23 |
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|
| 24 |
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|
| 25 |
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"padding_side": "right",
|
| 26 |
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|
| 27 |
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"truncation": true,
|
| 28 |
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"tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct"
|
| 29 |
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}
|
| 30 |
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},
|
| 31 |
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{
|
| 32 |
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"registry_name": "device_processor",
|
| 33 |
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"config": {
|
| 34 |
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"device": "cuda",
|
| 35 |
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|
| 36 |
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|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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"registry_name": "normalizer_processor",
|
| 40 |
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"config": {
|
| 41 |
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"eps": 1e-08,
|
| 42 |
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"features": {
|
| 43 |
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"observation.state": {
|
| 44 |
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"type": "STATE",
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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256,
|
| 70 |
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256
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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"norm_map": {
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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},
|
| 86 |
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"state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
|
| 87 |
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}
|
| 88 |
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]
|
| 89 |
+
}
|
checkpoints/025000/pretrained_model/train_config.json
ADDED
|
@@ -0,0 +1,241 @@
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|
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checkpoints/025000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,521 @@
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| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"lr": 9.031261565508626e-06,
|
| 4 |
+
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|
| 5 |
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0.9,
|
| 6 |
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0.95
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| 7 |
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],
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| 8 |
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"eps": 1e-08,
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| 9 |
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"weight_decay": 1e-10,
|
| 10 |
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"amsgrad": false,
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| 11 |
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"maximize": false,
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| 12 |
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"foreach": null,
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| 13 |
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"capturable": false,
|
| 14 |
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"differentiable": false,
|
| 15 |
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"fused": null,
|
| 16 |
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"decoupled_weight_decay": true,
|
| 17 |
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"initial_lr": 0.0001,
|
| 18 |
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|
| 19 |
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| 382 |
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| 388 |
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| 390 |
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371,
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|
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|
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404,
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|
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|
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|
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|
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|
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|
| 440 |
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|
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|
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|
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|
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|
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|
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| 455 |
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| 460 |
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|
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443,
|
| 463 |
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|
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| 465 |
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| 468 |
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455,
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| 475 |
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|
| 476 |
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|
| 477 |
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|
| 478 |
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|
| 479 |
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460,
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|
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463,
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465,
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| 485 |
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466,
|
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| 487 |
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468,
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| 488 |
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469,
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| 489 |
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470,
|
| 490 |
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471,
|
| 491 |
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472,
|
| 492 |
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473,
|
| 493 |
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474,
|
| 494 |
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475,
|
| 495 |
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476,
|
| 496 |
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| 497 |
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478,
|
| 498 |
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479,
|
| 499 |
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480,
|
| 500 |
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|
| 501 |
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|
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|
| 504 |
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| 507 |
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488,
|
| 508 |
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489,
|
| 509 |
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490,
|
| 510 |
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491,
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| 513 |
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| 514 |
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| 515 |
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| 516 |
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|
| 517 |
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498,
|
| 518 |
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499
|
| 519 |
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|
| 520 |
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|
| 521 |
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|
checkpoints/025000/training_state/scheduler_state.json
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base_lrs": [
|
| 3 |
+
0.0001
|
| 4 |
+
],
|
| 5 |
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"last_epoch": 25000,
|
| 6 |
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"_step_count": 25001,
|
| 7 |
+
"_is_initial": false,
|
| 8 |
+
"_get_lr_called_within_step": false,
|
| 9 |
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"_last_lr": [
|
| 10 |
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9.031261565508626e-06
|
| 11 |
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],
|
| 12 |
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"lr_lambdas": [
|
| 13 |
+
null
|
| 14 |
+
]
|
| 15 |
+
}
|
checkpoints/025000/training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"step": 25000
|
| 3 |
+
}
|
checkpoints/030000/pretrained_model/config.json
ADDED
|
@@ -0,0 +1,101 @@
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
+
"use_peft": false,
|
| 47 |
+
"push_to_hub": true,
|
| 48 |
+
"repo_id": "ehalicki/eth-rl-so101-may18-policies",
|
| 49 |
+
"private": null,
|
| 50 |
+
"tags": null,
|
| 51 |
+
"license": null,
|
| 52 |
+
"pretrained_path": "lerobot/smolvla_base",
|
| 53 |
+
"chunk_size": 50,
|
| 54 |
+
"n_action_steps": 50,
|
| 55 |
+
"normalization_mapping": {
|
| 56 |
+
"VISUAL": "IDENTITY",
|
| 57 |
+
"STATE": "MEAN_STD",
|
| 58 |
+
"ACTION": "MEAN_STD"
|
| 59 |
+
},
|
| 60 |
+
"max_state_dim": 32,
|
| 61 |
+
"max_action_dim": 32,
|
| 62 |
+
"resize_imgs_with_padding": [
|
| 63 |
+
512,
|
| 64 |
+
512
|
| 65 |
+
],
|
| 66 |
+
"empty_cameras": 0,
|
| 67 |
+
"adapt_to_pi_aloha": false,
|
| 68 |
+
"use_delta_joint_actions_aloha": false,
|
| 69 |
+
"tokenizer_max_length": 48,
|
| 70 |
+
"num_steps": 10,
|
| 71 |
+
"use_cache": true,
|
| 72 |
+
"freeze_vision_encoder": true,
|
| 73 |
+
"train_expert_only": true,
|
| 74 |
+
"train_state_proj": true,
|
| 75 |
+
"optimizer_lr": 0.0001,
|
| 76 |
+
"optimizer_betas": [
|
| 77 |
+
0.9,
|
| 78 |
+
0.95
|
| 79 |
+
],
|
| 80 |
+
"optimizer_eps": 1e-08,
|
| 81 |
+
"optimizer_weight_decay": 1e-10,
|
| 82 |
+
"optimizer_grad_clip_norm": 10.0,
|
| 83 |
+
"scheduler_warmup_steps": 1000,
|
| 84 |
+
"scheduler_decay_steps": 30000,
|
| 85 |
+
"scheduler_decay_lr": 2.5e-06,
|
| 86 |
+
"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
|
| 87 |
+
"load_vlm_weights": true,
|
| 88 |
+
"add_image_special_tokens": false,
|
| 89 |
+
"attention_mode": "cross_attn",
|
| 90 |
+
"prefix_length": 0,
|
| 91 |
+
"pad_language_to": "max_length",
|
| 92 |
+
"num_expert_layers": 0,
|
| 93 |
+
"num_vlm_layers": 16,
|
| 94 |
+
"self_attn_every_n_layers": 2,
|
| 95 |
+
"expert_width_multiplier": 0.75,
|
| 96 |
+
"min_period": 0.004,
|
| 97 |
+
"max_period": 4.0,
|
| 98 |
+
"rtc_config": null,
|
| 99 |
+
"compile_model": false,
|
| 100 |
+
"compile_mode": "max-autotune"
|
| 101 |
+
}
|
checkpoints/030000/pretrained_model/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 |
+
}
|
checkpoints/030000/pretrained_model/policy_preprocessor.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"name": "policy_preprocessor",
|
| 3 |
+
"steps": [
|
| 4 |
+
{
|
| 5 |
+
"registry_name": "rename_observations_processor",
|
| 6 |
+
"config": {
|
| 7 |
+
"rename_map": {
|
| 8 |
+
"observation.images.wrist_camera": "observation.images.camera1"
|
| 9 |
+
}
|
| 10 |
+
}
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"registry_name": "to_batch_processor",
|
| 14 |
+
"config": {}
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"registry_name": "smolvla_new_line_processor",
|
| 18 |
+
"config": {}
|
| 19 |
+
},
|
| 20 |
+
{
|
| 21 |
+
"registry_name": "tokenizer_processor",
|
| 22 |
+
"config": {
|
| 23 |
+
"max_length": 48,
|
| 24 |
+
"task_key": "task",
|
| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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|
| 32 |
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| 33 |
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|
| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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| 44 |
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| 45 |
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| 48 |
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| 49 |
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| 52 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
checkpoints/030000/pretrained_model/train_config.json
ADDED
|
@@ -0,0 +1,241 @@
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|
checkpoints/030000/training_state/optimizer_param_groups.json
ADDED
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@@ -0,0 +1,521 @@
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|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"lr": 2.5e-06,
|
| 4 |
+
"betas": [
|
| 5 |
+
0.9,
|
| 6 |
+
0.95
|
| 7 |
+
],
|
| 8 |
+
"eps": 1e-08,
|
| 9 |
+
"weight_decay": 1e-10,
|
| 10 |
+
"amsgrad": false,
|
| 11 |
+
"maximize": false,
|
| 12 |
+
"foreach": null,
|
| 13 |
+
"capturable": false,
|
| 14 |
+
"differentiable": false,
|
| 15 |
+
"fused": null,
|
| 16 |
+
"decoupled_weight_decay": true,
|
| 17 |
+
"initial_lr": 0.0001,
|
| 18 |
+
"params": [
|
| 19 |
+
0,
|
| 20 |
+
1,
|
| 21 |
+
2,
|
| 22 |
+
3,
|
| 23 |
+
4,
|
| 24 |
+
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|
| 25 |
+
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|
| 26 |
+
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|
| 27 |
+
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|
| 28 |
+
9,
|
| 29 |
+
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|
| 30 |
+
11,
|
| 31 |
+
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|
| 32 |
+
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|
| 33 |
+
14,
|
| 34 |
+
15,
|
| 35 |
+
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|
| 36 |
+
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|
| 37 |
+
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|
| 38 |
+
19,
|
| 39 |
+
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|
| 40 |
+
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|
| 41 |
+
22,
|
| 42 |
+
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|
| 43 |
+
24,
|
| 44 |
+
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|
| 45 |
+
26,
|
| 46 |
+
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|
| 47 |
+
28,
|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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| 69 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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| 98 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 108 |
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| 109 |
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| 111 |
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| 113 |
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| 114 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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| 131 |
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| 132 |
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| 137 |
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| 143 |
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|
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ADDED
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checkpoints/030000/training_state/scheduler_state.json
ADDED
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|
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|
| 15 |
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|
checkpoints/030000/training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
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loss_log.jsonl
ADDED
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| 1 |
+
{"step": 100, "steps": 100, "samples": 30000, "episodes": 78.91072257465574, "epochs": 0.33155765787670477, "loss": 0.42269100666046144, "grad_norm": 2.3794645166397093, "lr": 5.144855144855142e-06, "update_s": 1.9262247885999864, "dataloading_s": 0.27546702468999457}
|
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| 303 |
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| 304 |
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| 305 |
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| 306 |
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