Add 13-06-07_gemma_le/checkpoints/005000
Browse files
runs/13-06-07_gemma_le/checkpoints/005000/config.json
ADDED
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{
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"n_obs_steps": 1,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MIN_MAX",
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"ACTION": "MIN_MAX"
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},
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"input_features": {
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"observation.images.egoview": {
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"type": "VISUAL",
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"shape": [
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]
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},
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"observation.images.ego_view": {
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"type": "VISUAL",
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"shape": [
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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44
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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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]
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}
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},
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"device": "cuda",
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"use_amp": true,
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"chunk_size": 16,
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"n_action_steps": 8,
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"vision_model_id": "/scratch/cbjp404/.cache/hf/models/siglip-so400m-patch14-384",
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"text_model_id": "/scratch/cbjp404/.cache/hf/models/gemma-3-4b-it",
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"use_2d_rope": false,
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"lora_rank": 16,
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"lora_alpha": 16,
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"lora_dropout": 0.1,
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"lora_target_modules": [
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"q_proj",
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"k_proj",
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"v_proj",
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"o_proj"
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],
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"scaledp_num_layers": 4,
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"scaledp_num_heads": 8,
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"scaledp_dim_model": 512,
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"scaledp_dim_feedforward": 2048,
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"num_diffusion_steps": 100,
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"conditioning_dim": 768,
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"plan_update_interval": 10,
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"optimizer_lr": 0.0001,
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"optimizer_weight_decay": 1e-06
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}
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runs/13-06-07_gemma_le/checkpoints/005000/model.safetensors
ADDED
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:9f2982cef6ea71f434d6c2a611efbc2072396b8c3aa970941a2d81e8dddf66df
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size 9518415952
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runs/13-06-07_gemma_le/checkpoints/005000/train_config.json
ADDED
@@ -0,0 +1,183 @@
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{
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"dataset": {
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"repo_id": "local/robot_sim.PickNPlace",
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"root": "/scratch/cbjp404/Isaac-GR00T/demo_data/robot_sim.PickNPlace",
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"episodes": [
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],
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"image_transforms": {
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"enable": false,
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"max_num_transforms": 3,
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"random_order": false,
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"tfs": {
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"brightness": {
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"weight": 1.0,
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"type": "ColorJitter",
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"kwargs": {
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"brightness": [
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"contrast": {
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"weight": 1.0,
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"type": "ColorJitter",
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"kwargs": {
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"contrast": [
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"saturation": {
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"weight": 1.0,
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"type": "ColorJitter",
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"kwargs": {
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"saturation": [
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"hue": {
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"weight": 1.0,
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"type": "ColorJitter",
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"kwargs": {
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"hue": [
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},
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"sharpness": {
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"weight": 1.0,
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"type": "SharpnessJitter",
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"kwargs": {
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"sharpness": [
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},
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"revision": null,
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"use_imagenet_stats": false,
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"video_backend": "pyav"
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},
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"env": null,
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"policy": {
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"type": "gemma_le",
|
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"n_obs_steps": 1,
|
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"normalization_mapping": {
|
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"VISUAL": "MEAN_STD",
|
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"STATE": "MIN_MAX",
|
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|
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|
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"input_features": {
|
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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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"optimizer_weight_decay": 1e-06
|
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},
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"output_dir": "outputs/train/2025-08-12/13-06-07_gemma_le",
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"job_name": "gemma_le",
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"resume": false,
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"seed": 1000,
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"num_workers": 0,
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"steps": 20000,
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"save_freq": 5000,
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"optimizer": {
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"type": "adamw",
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],
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"eps": 1e-08
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},
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"scheduler": null,
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"eval": {
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|
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"wandb": {
|
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"enable": false,
|
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"disable_artifact": false,
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"project": "lerobot",
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"entity": null,
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"notes": null,
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"run_id": null
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},
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}
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