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config.json

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+{
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+    "push_to_hub": true,
+    "repo_id": "netray/my_policy",
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+    "license": null,
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+    "chunk_size": 100,
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+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
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+    "vision_backbone": "resnet18",
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "replace_final_stride_with_dilation": false,
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+    "kl_weight": 10.0,
+    "optimizer_lr": 1e-05,
+    "optimizer_weight_decay": 0.0001,
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+}

model.safetensors

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policy_postprocessor.json

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+{
+  "name": "policy_postprocessor",
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+      "config": {
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+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
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+      }
+    }
+  ]
+}

policy_postprocessor_step_0_unnormalizer_processor.safetensors

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policy_preprocessor.json

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+{
+  "name": "policy_preprocessor",
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+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
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+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
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+      "config": {
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+        "float_dtype": null
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+      "config": {
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policy_preprocessor_step_3_normalizer_processor.safetensors

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train_config.json

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+{
+    "dataset": {
+        "repo_id": "netray/so101-demo-1080p30-5ep",
+        "root": null,
+        "episodes": null,
+        "image_transforms": {
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+                            1.2
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+        "video_backend": "torchcodec",
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+    "policy": {
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+        "push_to_hub": true,
+        "repo_id": "netray/my_policy",
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+        "tags": null,
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+        },
+        "vision_backbone": "resnet18",
+        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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+    },
+    "output_dir": "/content/drive/MyDrive/lerobot_runs/act_so101_1080p30_5ep_run11k",
+    "job_name": "act_so101_1080p30_5ep_run11k",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 4,
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+    "steps": 11000,
+    "eval_freq": 2000,
+    "log_freq": 200,
+    "save_checkpoint": true,
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+    "use_policy_training_preset": true,
+    "optimizer": {
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+        "weight_decay": 0.0001,
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+        "betas": [
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+    "eval": {
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+        "batch_size": 50,
+        "use_async_envs": false
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+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "rhommpee",
+        "mode": null
+    }
+}