Upload folder using huggingface_hub
Browse files- pretrained_model/config.json +83 -0
- pretrained_model/model.safetensors +3 -0
- pretrained_model/train_config.json +195 -0
- training_state/optimizer_param_groups.json +527 -0
- training_state/optimizer_state.safetensors +3 -0
- training_state/rng_state.safetensors +3 -0
- training_state/scheduler_state.json +14 -0
- training_state/training_step.json +3 -0
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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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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},
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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.top": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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"observation.images.wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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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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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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"chunk_size": 50,
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| 44 |
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"n_action_steps": 50,
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"max_state_dim": 32,
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"max_action_dim": 32,
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"resize_imgs_with_padding": [
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512,
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512
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],
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"empty_cameras": 0,
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"adapt_to_pi_aloha": false,
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"use_delta_joint_actions_aloha": false,
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| 54 |
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"tokenizer_max_length": 48,
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| 55 |
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"num_steps": 10,
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"use_cache": true,
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| 57 |
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"freeze_vision_encoder": true,
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| 58 |
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"train_expert_only": true,
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| 59 |
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"train_state_proj": true,
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| 60 |
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"optimizer_lr": 0.0001,
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| 61 |
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"optimizer_betas": [
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0.9,
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0.95
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],
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"optimizer_eps": 1e-08,
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| 66 |
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"optimizer_weight_decay": 1e-10,
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| 67 |
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"optimizer_grad_clip_norm": 10.0,
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| 68 |
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"scheduler_warmup_steps": 1000,
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| 69 |
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"scheduler_decay_steps": 30000,
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| 70 |
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"scheduler_decay_lr": 2.5e-06,
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| 71 |
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"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
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| 72 |
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"load_vlm_weights": true,
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| 73 |
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"add_image_special_tokens": false,
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| 74 |
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"attention_mode": "cross_attn",
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| 75 |
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"prefix_length": 0,
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| 76 |
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"pad_language_to": "max_length",
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| 77 |
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"num_expert_layers": 0,
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| 78 |
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"num_vlm_layers": 16,
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| 79 |
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"self_attn_every_n_layers": 2,
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| 80 |
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"expert_width_multiplier": 0.75,
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| 81 |
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"min_period": 0.004,
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| 82 |
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"max_period": 4.0
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| 83 |
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}
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pretrained_model/model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:750b4c717cdfe55d440a5cddb55b1f2c495a772320bc33ca37ab3fb1e208975f
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size 906713296
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pretrained_model/train_config.json
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{
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| 2 |
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"dataset": {
|
| 3 |
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"repo_id": "jccj/shape_matching2",
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| 4 |
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"root": null,
|
| 5 |
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"episodes": null,
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| 6 |
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"image_transforms": {
|
| 7 |
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"enable": false,
|
| 8 |
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"max_num_transforms": 3,
|
| 9 |
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"random_order": false,
|
| 10 |
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"tfs": {
|
| 11 |
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"brightness": {
|
| 12 |
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"weight": 1.0,
|
| 13 |
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"type": "ColorJitter",
|
| 14 |
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"kwargs": {
|
| 15 |
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"brightness": [
|
| 16 |
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0.8,
|
| 17 |
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1.2
|
| 18 |
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]
|
| 19 |
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}
|
| 20 |
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},
|
| 21 |
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"contrast": {
|
| 22 |
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"weight": 1.0,
|
| 23 |
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"type": "ColorJitter",
|
| 24 |
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"kwargs": {
|
| 25 |
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"contrast": [
|
| 26 |
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0.8,
|
| 27 |
+
1.2
|
| 28 |
+
]
|
| 29 |
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}
|
| 30 |
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},
|
| 31 |
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"saturation": {
|
| 32 |
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"weight": 1.0,
|
| 33 |
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"type": "ColorJitter",
|
| 34 |
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"kwargs": {
|
| 35 |
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"saturation": [
|
| 36 |
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0.5,
|
| 37 |
+
1.5
|
| 38 |
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]
|
| 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 |
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]
|
| 59 |
+
}
|
| 60 |
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}
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"revision": null,
|
| 64 |
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"use_imagenet_stats": true,
|
| 65 |
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"video_backend": "torchcodec"
|
| 66 |
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},
|
| 67 |
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"env": null,
|
| 68 |
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"policy": {
|
| 69 |
+
"type": "smolvla",
|
| 70 |
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"n_obs_steps": 1,
|
| 71 |
+
"normalization_mapping": {
|
| 72 |
+
"VISUAL": "IDENTITY",
|
| 73 |
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"STATE": "MEAN_STD",
|
| 74 |
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"ACTION": "MEAN_STD"
|
| 75 |
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},
|
| 76 |
+
"input_features": {
|
| 77 |
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"observation.state": {
|
| 78 |
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"type": "STATE",
|
| 79 |
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"shape": [
|
| 80 |
+
6
|
| 81 |
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]
|
| 82 |
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},
|
| 83 |
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"observation.images.top": {
|
| 84 |
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"type": "VISUAL",
|
| 85 |
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"shape": [
|
| 86 |
+
3,
|
| 87 |
+
480,
|
| 88 |
+
640
|
| 89 |
+
]
|
| 90 |
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},
|
| 91 |
+
"observation.images.wrist": {
|
| 92 |
+
"type": "VISUAL",
|
| 93 |
+
"shape": [
|
| 94 |
+
3,
|
| 95 |
+
480,
|
| 96 |
+
640
|
| 97 |
+
]
|
| 98 |
+
}
|
| 99 |
+
},
|
| 100 |
+
"output_features": {
|
| 101 |
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"action": {
|
| 102 |
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"type": "ACTION",
|
| 103 |
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"shape": [
|
| 104 |
+
6
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"device": "cuda",
|
| 109 |
+
"use_amp": false,
|
| 110 |
+
"chunk_size": 50,
|
| 111 |
+
"n_action_steps": 50,
|
| 112 |
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"max_state_dim": 32,
|
| 113 |
+
"max_action_dim": 32,
|
| 114 |
+
"resize_imgs_with_padding": [
|
| 115 |
+
512,
|
| 116 |
+
512
|
| 117 |
+
],
|
| 118 |
+
"empty_cameras": 0,
|
| 119 |
+
"adapt_to_pi_aloha": false,
|
| 120 |
+
"use_delta_joint_actions_aloha": false,
|
| 121 |
+
"tokenizer_max_length": 48,
|
| 122 |
+
"num_steps": 10,
|
| 123 |
+
"use_cache": true,
|
| 124 |
+
"freeze_vision_encoder": true,
|
| 125 |
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"train_expert_only": true,
|
| 126 |
+
"train_state_proj": true,
|
| 127 |
+
"optimizer_lr": 0.0001,
|
| 128 |
+
"optimizer_betas": [
|
| 129 |
+
0.9,
|
| 130 |
+
0.95
|
| 131 |
+
],
|
| 132 |
+
"optimizer_eps": 1e-08,
|
| 133 |
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"optimizer_weight_decay": 1e-10,
|
| 134 |
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"optimizer_grad_clip_norm": 10.0,
|
| 135 |
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"scheduler_warmup_steps": 1000,
|
| 136 |
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"scheduler_decay_steps": 30000,
|
| 137 |
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"scheduler_decay_lr": 2.5e-06,
|
| 138 |
+
"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
|
| 139 |
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"load_vlm_weights": true,
|
| 140 |
+
"add_image_special_tokens": false,
|
| 141 |
+
"attention_mode": "cross_attn",
|
| 142 |
+
"prefix_length": 0,
|
| 143 |
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"pad_language_to": "max_length",
|
| 144 |
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"num_expert_layers": 0,
|
| 145 |
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"num_vlm_layers": 16,
|
| 146 |
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"self_attn_every_n_layers": 2,
|
| 147 |
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"expert_width_multiplier": 0.75,
|
| 148 |
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"min_period": 0.004,
|
| 149 |
+
"max_period": 4.0
|
| 150 |
+
},
|
| 151 |
+
"output_dir": "outputs/train/2025-06-14/21-17-47_smolvla",
|
| 152 |
+
"job_name": "smolvla",
|
| 153 |
+
"resume": false,
|
| 154 |
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"seed": 1000,
|
| 155 |
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"num_workers": 4,
|
| 156 |
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"batch_size": 64,
|
| 157 |
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"steps": 200000,
|
| 158 |
+
"eval_freq": 20000,
|
| 159 |
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"log_freq": 200,
|
| 160 |
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"save_checkpoint": true,
|
| 161 |
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"save_freq": 5000,
|
| 162 |
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"use_policy_training_preset": true,
|
| 163 |
+
"optimizer": {
|
| 164 |
+
"type": "adamw",
|
| 165 |
+
"lr": 0.0001,
|
| 166 |
+
"weight_decay": 1e-10,
|
| 167 |
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"grad_clip_norm": 10.0,
|
| 168 |
+
"betas": [
|
| 169 |
+
0.9,
|
| 170 |
+
0.95
|
| 171 |
+
],
|
| 172 |
+
"eps": 1e-08
|
| 173 |
+
},
|
| 174 |
+
"scheduler": {
|
| 175 |
+
"type": "cosine_decay_with_warmup",
|
| 176 |
+
"num_warmup_steps": 1000,
|
| 177 |
+
"num_decay_steps": 30000,
|
| 178 |
+
"peak_lr": 0.0001,
|
| 179 |
+
"decay_lr": 2.5e-06
|
| 180 |
+
},
|
| 181 |
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"eval": {
|
| 182 |
+
"n_episodes": 50,
|
| 183 |
+
"batch_size": 50,
|
| 184 |
+
"use_async_envs": false
|
| 185 |
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},
|
| 186 |
+
"wandb": {
|
| 187 |
+
"enable": true,
|
| 188 |
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"disable_artifact": false,
|
| 189 |
+
"project": "lerobot",
|
| 190 |
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"entity": null,
|
| 191 |
+
"notes": null,
|
| 192 |
+
"run_id": "72z7065z",
|
| 193 |
+
"mode": null
|
| 194 |
+
}
|
| 195 |
+
}
|
training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,527 @@
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|
| 1 |
+
[
|
| 2 |
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{
|
| 3 |
+
"lr": 2.6875000000000013e-05,
|
| 4 |
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"betas": [
|
| 5 |
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|
| 6 |
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|
| 7 |
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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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|
| 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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|
| 18 |
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|
| 19 |
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|
| 526 |
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}
|
| 527 |
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]
|
training_state/optimizer_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:344400c0a4f3bfa26fed54565fefe59acc700af6a44e545b53be1557515a98be
|
| 3 |
+
size 412659164
|
training_state/rng_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8d56e0a41de5675f9552ce0896b63722dd75efbccc0f950498994565740bf3c8
|
| 3 |
+
size 15708
|
training_state/scheduler_state.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base_lrs": [
|
| 3 |
+
0.0001
|
| 4 |
+
],
|
| 5 |
+
"last_epoch": 20000,
|
| 6 |
+
"_step_count": 20001,
|
| 7 |
+
"_get_lr_called_within_step": false,
|
| 8 |
+
"_last_lr": [
|
| 9 |
+
2.6875000000000013e-05
|
| 10 |
+
],
|
| 11 |
+
"lr_lambdas": [
|
| 12 |
+
null
|
| 13 |
+
]
|
| 14 |
+
}
|
training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"step": 20000
|
| 3 |
+
}
|