Upload folder using huggingface_hub

config.json

@@ -0,0 +1,86 @@
+{
+    "type": "pi0fast",
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.on_robot": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.side_view": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.phone": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "chunk_size": 10,
+    "n_action_steps": 5,
+    "max_state_dim": 32,
+    "max_action_dim": 32,
+    "resize_imgs_with_padding": [
+        224,
+        224
+    ],
+    "interpolate_like_pi": false,
+    "empty_cameras": 0,
+    "adapt_to_pi_aloha": false,
+    "use_delta_joint_actions_aloha": false,
+    "tokenizer_max_length": 48,
+    "proj_width": 1024,
+    "max_decoding_steps": 256,
+    "fast_skip_tokens": 128,
+    "max_input_seq_len": 256,
+    "use_cache": true,
+    "freeze_vision_encoder": true,
+    "freeze_lm_head": true,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-05,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06,
+    "checkpoint_path": null,
+    "padding_side": "right",
+    "precision": "bfloat16",
+    "grad_clip_norm": 1,
+    "relaxed_action_decoding": true
+}

gitattributes

@@ -0,0 +1,35 @@
+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text

model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da8def051b8379a70c33eb6fcbac9e2e17d2755fe4ba1f848e42905256727e9d
+size 5846765760

train_config.json

@@ -0,0 +1,198 @@
+{
+    "dataset": {
+        "repo_id": "DanqingZ/filtered_pick_yellow_pink",
+        "root": null,
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec"
+    },
+    "env": null,
+    "policy": {
+        "type": "pi0fast",
+        "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.on_robot": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.side_view": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.phone": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "chunk_size": 10,
+        "n_action_steps": 5,
+        "max_state_dim": 32,
+        "max_action_dim": 32,
+        "resize_imgs_with_padding": [
+            224,
+            224
+        ],
+        "interpolate_like_pi": false,
+        "empty_cameras": 0,
+        "adapt_to_pi_aloha": false,
+        "use_delta_joint_actions_aloha": false,
+        "tokenizer_max_length": 48,
+        "proj_width": 1024,
+        "max_decoding_steps": 256,
+        "fast_skip_tokens": 128,
+        "max_input_seq_len": 256,
+        "use_cache": true,
+        "freeze_vision_encoder": true,
+        "freeze_lm_head": true,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.9,
+            0.95
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-05,
+        "scheduler_warmup_steps": 1000,
+        "scheduler_decay_steps": 30000,
+        "scheduler_decay_lr": 2.5e-06,
+        "checkpoint_path": null,
+        "padding_side": "right",
+        "precision": "bfloat16",
+        "grad_clip_norm": 1,
+        "relaxed_action_decoding": true
+    },
+    "output_dir": "output",
+    "job_name": "pi0fast",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 4,
+    "batch_size": 8,
+    "steps": 100000,
+    "eval_freq": 20000,
+    "log_freq": 100,
+    "save_checkpoint": true,
+    "save_freq": 200000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 0.0001,
+        "weight_decay": 1e-05,
+        "grad_clip_norm": 1,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 1000,
+        "num_decay_steps": 30000,
+        "peak_lr": 0.0001,
+        "decay_lr": 2.5e-06
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "mode": null
+    }
+}