Upload folder using huggingface_hub
Browse files- README.md +12 -0
- config.json +61 -0
- meta.json +1 -0
- model.safetensors +3 -0
README.md
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---
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library_name: lerobot
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tags:
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- diffusion-policy
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- model_hub_mixin
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- pytorch_model_hub_mixin
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- robotics
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---
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This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
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- Library: https://github.com/huggingface/lerobot
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- Docs: [More Information Needed]
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config.json
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{
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"beta_end": 0.02,
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"beta_schedule": "squaredcos_cap_v2",
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"beta_start": 0.0001,
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"clip_sample": true,
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"clip_sample_range": 1.0,
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"crop_is_random": true,
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"crop_shape": [
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140,
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215
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],
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"diffusion_step_embed_dim": 128,
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"do_mask_loss_for_padding": false,
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"down_dims": [
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512,
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1024,
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2048
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],
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"horizon": 8,
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"input_normalization_modes": {
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"observation.images.left": "mean_std",
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"observation.images.right": "mean_std",
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"observation.state": "mean_std"
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},
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"input_shapes": {
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"observation.images.left": [
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3,
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160,
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240
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],
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"observation.images.right": [
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3,
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160,
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240
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],
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"observation.state": [
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1
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]
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},
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"kernel_size": 5,
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"n_action_steps": 8,
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"n_groups": 8,
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"n_obs_steps": 1,
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"noise_scheduler_type": "DDIM",
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"num_inference_steps": 10,
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"num_train_timesteps": 100,
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"output_normalization_modes": {
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"action": "min_max"
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},
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"output_shapes": {
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"action": [
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7
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]
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},
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"prediction_type": "epsilon",
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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"spatial_softmax_num_keypoints": 32,
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"use_film_scale_modulation": true,
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"use_group_norm": false,
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"vision_backbone": "resnet18"
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}
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meta.json
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{"loss": 0.010587829165160656, "time": 1729753983.222122, "epoch": 400.0, "step": 4000, "params": {"epochs": 600, "root": "episodes", "repo_id": "Frontier-Machines/move_to_duct_tape-20241023_161851", "frequency": 10, "img_width": 240, "img_height": 160, "gripper_dof": 0, "position_dof": 3, "rotation_dof": 4, "batch_size": 128, "log_freq": 50, "checkpoint_freq": 50, "observation_length": 1, "inference_steps": 10}}
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model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:e1c9e38e604e0515d26a431cc28c780478c70dee89e5b55bf019291247260e32
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size 1050636108
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