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README.md

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+---
+tags:
+- pytorch_model_hub_mixin
+- model_hub_mixin
+---
+
+This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
+- Library: [More Information Needed]
+- Docs: [More Information Needed]

config.json

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+{
+  "action_chunk_size": 2,
+  "bet_softmax_temperature": 0.1,
+  "crop_is_random": true,
+  "crop_shape": [
+    84,
+    84
+  ],
+  "dropout": 0.1,
+  "gpt_block_size": 500,
+  "gpt_hidden_dim": 256,
+  "gpt_input_dim": 128,
+  "gpt_n_head": 4,
+  "gpt_n_layer": 4,
+  "gpt_output_dim": 128,
+  "input_normalization_modes": {
+    "observation.state": "min_max"
+  },
+  "input_shapes": {
+    "observation.state": [
+      4
+    ]
+  },
+  "mlp_hidden_dim": 128,
+  "n_action_pred_token": 3,
+  "n_obs_steps": 2,
+  "n_vqvae_training_steps": 20000,
+  "offset_loss_weight": 100.0,
+  "output_normalization_modes": {
+    "action": "min_max"
+  },
+  "output_shapes": {
+    "action": [
+      2
+    ]
+  },
+  "pretrained_backbone_weights": null,
+  "primary_code_loss_weight": 5.0,
+  "resize_shape": null,
+  "secondary_code_loss_weight": 0.5,
+  "sequentially_select": true,
+  "spatial_softmax_num_keypoints": 32,
+  "use_group_norm": true,
+  "use_spatial_softmax": false,
+  "vision_backbone": "resnet18",
+  "vqvae_embedding_dim": 32,
+  "vqvae_enc_hidden_dim": 64,
+  "vqvae_n_embed": 16
+}

config.yaml

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+resume: false
+device: cuda
+use_amp: false
+seed: 100000
+dataset_repo_id: notmahi/tutorial-ball
+video_backend: pyav
+training:
+  offline_steps: 100000
+  online_steps: 0
+  online_steps_between_rollouts: 1
+  online_sampling_ratio: 0.5
+  online_env_seed: ???
+  eval_freq: 10000
+  log_freq: 250
+  save_checkpoint: true
+  save_freq: 5000
+  num_workers: 4
+  batch_size: 128
+  image_transforms:
+    enable: false
+    max_num_transforms: 3
+    random_order: false
+    brightness:
+      weight: 1
+      min_max:
+      - 0.8
+      - 1.2
+    contrast:
+      weight: 1
+      min_max:
+      - 0.8
+      - 1.2
+    saturation:
+      weight: 1
+      min_max:
+      - 0.5
+      - 1.5
+    hue:
+      weight: 1
+      min_max:
+      - -0.05
+      - 0.05
+    sharpness:
+      weight: 1
+      min_max:
+      - 0.8
+      - 1.2
+  grad_clip_norm: 10
+  lr: 0.0001
+  lr_scheduler: cosine
+  lr_warmup_steps: 500
+  adam_betas:
+  - 0.95
+  - 0.999
+  adam_eps: 1.0e-08
+  adam_weight_decay: 1.0e-06
+  vqvae_lr: 0.001
+  n_vqvae_training_steps: 20000
+  bet_weight_decay: 0.0002
+  bet_learning_rate: 5.5e-05
+  bet_betas:
+  - 0.9
+  - 0.999
+  delta_timestamps:
+    observation.state:
+    - -0.016666666666666666
+    - 0.0
+    action:
+    - -0.016666666666666666
+    - 0.0
+    - 0.016666666666666666
+    - 0.03333333333333333
+    - 0.05
+eval:
+  n_episodes: 10
+  batch_size: 10
+  use_async_envs: false
+wandb:
+  enable: true
+  disable_artifact: false
+  project: lerobot
+  notes: ''
+fps: 60
+env:
+  name: ballgame
+  task: Ballgame-v0
+  state_dim: 4
+  action_dim: 2
+  fps: ${fps}
+  episode_length: 1000
+  gym:
+    fps: ${fps}
+    obs_type: pixels_agent_pos
+    timeout: 1000
+policy:
+  name: vqbet
+  n_obs_steps: 2
+  n_action_pred_token: 3
+  action_chunk_size: 2
+  input_shapes:
+    observation.state:
+    - ${env.state_dim}
+  output_shapes:
+    action:
+    - ${env.action_dim}
+  input_normalization_modes:
+    observation.state: min_max
+  output_normalization_modes:
+    action: min_max
+  vision_backbone: resnet18
+  crop_shape:
+  - 84
+  - 84
+  crop_is_random: true
+  pretrained_backbone_weights: null
+  use_group_norm: true
+  spatial_softmax_num_keypoints: 32
+  n_vqvae_training_steps: ${training.n_vqvae_training_steps}
+  vqvae_n_embed: 16
+  vqvae_embedding_dim: 32
+  vqvae_enc_hidden_dim: 64
+  gpt_block_size: 500
+  gpt_input_dim: 128
+  gpt_output_dim: 128
+  gpt_n_layer: 4
+  gpt_n_head: 4
+  gpt_hidden_dim: 256
+  dropout: 0.1
+  mlp_hidden_dim: 128
+  offset_loss_weight: 100.0
+  primary_code_loss_weight: 5.0
+  secondary_code_loss_weight: 0.5
+  bet_softmax_temperature: 1.0
+  sequentially_select: true

model.safetensors

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7a36938231e0f1c2993f1e2c513073b59396e20dd03bef3b1bce73b44c03206c
+size 17571450