Robotics
Transformers
Safetensors
Inference Endpoints
JayLee131 commited on
Commit
f8196bf
1 Parent(s): 67bc203

Upload 3 files

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Files changed (3) hide show
  1. config.json +9 -3
  2. config.yaml +14 -9
  3. model.safetensors +2 -2
config.json CHANGED
@@ -1,7 +1,7 @@
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  {
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  "n_obs_steps": 5,
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  "n_action_pred_token": 7,
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- "n_action_pred_chunk": 5,
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  "input_shapes": {
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  "observation.image": [
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  3,
@@ -33,16 +33,22 @@
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  "pretrained_backbone_weights": null,
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  "use_group_norm": true,
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  "spatial_softmax_num_keypoints": 32,
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- "discretize_step": 20000,
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  "vqvae_groups": 2,
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  "vqvae_n_embed": 16,
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  "vqvae_embedding_dim": 256,
 
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  "gpt_block_size": 500,
 
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  "gpt_output_dim": 512,
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  "gpt_n_layer": 8,
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  "gpt_n_head": 8,
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  "gpt_hidden_dim": 512,
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  "dropout": 0.1,
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  "mlp_hidden_dim": 1024,
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- "offset_loss_weight": 10000.0
 
 
 
 
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  }
 
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  {
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  "n_obs_steps": 5,
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  "n_action_pred_token": 7,
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+ "action_chunk_size": 5,
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  "input_shapes": {
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  "observation.image": [
7
  3,
 
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  "pretrained_backbone_weights": null,
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  "use_group_norm": true,
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  "spatial_softmax_num_keypoints": 32,
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+ "n_vqvae_training_steps": 20000,
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  "vqvae_groups": 2,
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  "vqvae_n_embed": 16,
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  "vqvae_embedding_dim": 256,
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+ "vqvae_enc_hidden_dim": 128,
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  "gpt_block_size": 500,
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+ "gpt_input_dim": 512,
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  "gpt_output_dim": 512,
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  "gpt_n_layer": 8,
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  "gpt_n_head": 8,
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  "gpt_hidden_dim": 512,
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  "dropout": 0.1,
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  "mlp_hidden_dim": 1024,
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+ "offset_loss_weight": 10000.0,
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+ "primary_code_loss_weight": 5.0,
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+ "secondary_code_loss_weight": 0.5,
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+ "bet_softmax_temperature": 0.1,
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+ "sequentially_select": false
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  }
config.yaml CHANGED
@@ -1,3 +1,4 @@
 
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  device: cuda
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  use_amp: false
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  seed: 100000
@@ -11,7 +12,8 @@ training:
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  eval_freq: 20000
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  save_freq: 20000
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  log_freq: 250
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- save_model: true
 
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  batch_size: 64
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  grad_clip_norm: 10
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  lr: 0.0001
@@ -23,7 +25,7 @@ training:
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  adam_eps: 1.0e-08
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  adam_weight_decay: 1.0e-06
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  vqvae_lr: 0.001
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- discretize_step: 20000
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  bet_weight_decay: 0.0002
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  bet_learning_rate: 5.5e-05
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  bet_betas:
@@ -71,13 +73,16 @@ fps: 10
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  env:
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  name: pusht
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  task: PushT-v0
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- from_pixels: true
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- pixels_only: false
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  image_size: 96
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- episode_length: 300
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- fps: ${fps}
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  state_dim: 2
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  action_dim: 2
 
 
 
 
 
 
 
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  override_dataset_stats:
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  observation.image:
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  mean:
@@ -106,7 +111,7 @@ policy:
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  name: vqbet
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  n_obs_steps: 5
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  n_action_pred_token: 7
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- n_action_pred_chunk: 5
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  input_shapes:
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  observation.image:
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  - 3
@@ -130,7 +135,7 @@ policy:
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  pretrained_backbone_weights: null
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  use_group_norm: true
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  spatial_softmax_num_keypoints: 32
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- discretize_step: ${training.discretize_step}
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  vqvae_groups: 2
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  vqvae_n_embed: 16
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  vqvae_embedding_dim: 256
@@ -141,10 +146,10 @@ policy:
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  gpt_n_layer: 8
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  gpt_n_head: 8
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  gpt_hidden_dim: 512
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- gpt_num_obs_mode: 2
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  dropout: 0.1
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  mlp_hidden_dim: 1024
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  offset_loss_weight: 10000.0
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  primary_code_loss_weight: 5.0
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  secondary_code_loss_weight: 0.5
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  bet_softmax_temperature: 0.01
 
 
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+ resume: false
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  device: cuda
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  use_amp: false
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  seed: 100000
 
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  eval_freq: 20000
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  save_freq: 20000
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  log_freq: 250
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+ save_checkpoint: true
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+ num_workers: 4
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  batch_size: 64
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  grad_clip_norm: 10
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  lr: 0.0001
 
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  adam_eps: 1.0e-08
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  adam_weight_decay: 1.0e-06
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  vqvae_lr: 0.001
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+ n_vqvae_training_steps: 20000
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  bet_weight_decay: 0.0002
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  bet_learning_rate: 5.5e-05
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  bet_betas:
 
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  env:
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  name: pusht
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  task: PushT-v0
 
 
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  image_size: 96
 
 
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  state_dim: 2
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  action_dim: 2
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+ fps: ${fps}
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+ episode_length: 300
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+ gym:
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+ obs_type: pixels_agent_pos
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+ render_mode: rgb_array
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+ visualization_width: 384
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+ visualization_height: 384
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  override_dataset_stats:
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  observation.image:
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  mean:
 
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  name: vqbet
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  n_obs_steps: 5
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  n_action_pred_token: 7
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+ action_chunk_size: 5
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  input_shapes:
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  observation.image:
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  - 3
 
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  pretrained_backbone_weights: null
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  use_group_norm: true
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  spatial_softmax_num_keypoints: 32
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+ discretize_step: ${training.n_vqvae_training_steps}
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  vqvae_groups: 2
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  vqvae_n_embed: 16
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  vqvae_embedding_dim: 256
 
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  gpt_n_layer: 8
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  gpt_n_head: 8
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  gpt_hidden_dim: 512
 
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  dropout: 0.1
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  mlp_hidden_dim: 1024
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  offset_loss_weight: 10000.0
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  primary_code_loss_weight: 5.0
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  secondary_code_loss_weight: 0.5
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  bet_softmax_temperature: 0.01
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+ sequentially_select: false
model.safetensors CHANGED
@@ -1,3 +1,3 @@
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