1018 lines
58 KiB
Plaintext
1018 lines
58 KiB
Plaintext
{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": 107,
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"metadata": {},
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"outputs": [],
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"source": [
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"import torch\n",
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"from safetensors.torch import load_file, save_file, _remove_duplicate_names\n",
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"from pprint import pprint\n",
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"import pickle\n",
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"import numpy as np"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 122,
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"metadata": {},
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"outputs": [],
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"source": [
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"original_ckpt_path = \"/home/thomwolf/Documents/Github/ACT/checkpoints/blue_red_sort_raw/policy_initial_state.ckpt\"\n",
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"stats_path = original_ckpt_path.replace('policy_initial_state.ckpt', f'dataset_stats.pkl')\n",
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"converted_ckpt_path = \"/home/thomwolf/Documents/Github/ACT/checkpoints/blue_red_sort_raw/initial_state/model.safetensors\"\n",
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"\n",
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"comparison_main_path = \"/home/thomwolf/Documents/Github/lerobot/examples/real_robot_example/outputs/train/blue_red_debug_no_masking/checkpoints/last/pretrained_model/\"\n",
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"comparison_safetensor_path = comparison_main_path + \"model.safetensors\"\n",
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"comparison_config_json_path = comparison_main_path + \"config.json\"\n",
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"comparison_config_yaml_path = comparison_main_path + \"config.yaml\""
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]
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},
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{
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"cell_type": "code",
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"execution_count": 123,
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"metadata": {},
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"outputs": [],
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"source": [
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"\n",
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"with open(stats_path, 'rb') as f:\n",
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" stats = pickle.load(f)\n",
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"image_stats_mean = torch.tensor([0.485, 0.456, 0.406])\n",
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"image_stats_std = torch.tensor([0.229, 0.224, 0.225])"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 124,
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"metadata": {},
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"outputs": [
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{
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"data": {
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"text/plain": [
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"{'action_mean': array([ 0.10564873, -0.06760169, -0.21794759, 1.4932278 , 0.01712005,\n",
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" 0.65135974], dtype=float32),\n",
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" 'action_std': array([0.324479 , 0.48200357, 0.6450592 , 0.21122734, 0.16231349,\n",
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" 0.46708518], dtype=float32),\n",
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" 'qpos_mean': array([ 0.10348293, -0.01160635, -0.06582164, 1.490679 , 0.01592216,\n",
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" 0.73001933], dtype=float32),\n",
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" 'qpos_std': array([0.32309636, 0.4455181 , 0.59022886, 0.17841513, 0.16096668,\n",
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" 0.32320786], dtype=float32),\n",
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" 'example_qpos': array([[ 0.05212891, -0.58875 , 0.76200193, 1.4289453 , -0.0015332 ,\n",
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" 0.9827832 ],\n",
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" [ 0.05212891, -0.58875 , 0.76200193, 1.4304786 , -0.0015332 ,\n",
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" 0.9827832 ],\n",
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" [ 0.05212891, -0.58875 , 0.76200193, 1.4304786 , -0.0015332 ,\n",
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" 0.9827832 ],\n",
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" ...,\n",
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" [-0.03066406, -0.36030275, 0.7190723 , 1.1897656 , -0.18398437,\n",
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" 0.9751172 ],\n",
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" [-0.03066406, -0.35876954, 0.72367185, 1.1897656 , -0.18398437,\n",
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" 0.9751172 ],\n",
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" [-0.03066406, -0.35723633, 0.7282715 , 1.1897656 , -0.18398437,\n",
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" 0.9751172 ]], dtype=float32)}"
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]
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},
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"execution_count": 124,
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"metadata": {},
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"output_type": "execute_result"
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}
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],
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"source": [
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"stats"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 125,
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"metadata": {},
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"outputs": [],
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"source": [
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"a = torch.load(original_ckpt_path)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 126,
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"metadata": {},
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"outputs": [],
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"source": [
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"b = load_file(comparison_safetensor_path)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 127,
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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" 'model.vae_encoder.layers.3.norm2.bias',\n",
|
|
" 'model.vae_encoder.layers.3.norm2.weight',\n",
|
|
" 'model.vae_encoder.layers.3.self_attn.in_proj_bias',\n",
|
|
" 'model.vae_encoder.layers.3.self_attn.in_proj_weight',\n",
|
|
" 'model.vae_encoder.layers.3.self_attn.out_proj.bias',\n",
|
|
" 'model.vae_encoder.layers.3.self_attn.out_proj.weight',\n",
|
|
" 'model.vae_encoder_action_input_proj.bias',\n",
|
|
" 'model.vae_encoder_action_input_proj.weight',\n",
|
|
" 'model.vae_encoder_cls_embed.weight',\n",
|
|
" 'model.vae_encoder_latent_output_proj.bias',\n",
|
|
" 'model.vae_encoder_latent_output_proj.weight',\n",
|
|
" 'model.vae_encoder_pos_enc',\n",
|
|
" 'model.vae_encoder_robot_state_input_proj.bias',\n",
|
|
" 'model.vae_encoder_robot_state_input_proj.weight',\n",
|
|
" 'normalize_inputs.buffer_observation_images_front.mean',\n",
|
|
" 'normalize_inputs.buffer_observation_images_front.std',\n",
|
|
" 'normalize_inputs.buffer_observation_images_top.mean',\n",
|
|
" 'normalize_inputs.buffer_observation_images_top.std',\n",
|
|
" 'normalize_inputs.buffer_observation_state.mean',\n",
|
|
" 'normalize_inputs.buffer_observation_state.std',\n",
|
|
" 'normalize_targets.buffer_action.mean',\n",
|
|
" 'normalize_targets.buffer_action.std',\n",
|
|
" 'unnormalize_outputs.buffer_action.mean',\n",
|
|
" 'unnormalize_outputs.buffer_action.std']\n"
|
|
]
|
|
}
|
|
],
|
|
"source": [
|
|
"dest = list(b.keys())\n",
|
|
"pprint(dest)"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": 128,
|
|
"metadata": {},
|
|
"outputs": [
|
|
{
|
|
"name": "stdout",
|
|
"output_type": "stream",
|
|
"text": [
|
|
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|
|
" 'model.backbones.0.0.body.layer1.0.bn2.running_mean',\n",
|
|
" 'model.backbones.0.0.body.layer1.0.bn2.running_var',\n",
|
|
" 'model.backbones.0.0.body.layer1.0.bn2.num_batches_tracked',\n",
|
|
" 'model.backbones.0.0.body.layer1.1.conv1.weight',\n",
|
|
" 'model.backbones.0.0.body.layer1.1.bn1.weight',\n",
|
|
" 'model.backbones.0.0.body.layer1.1.bn1.bias',\n",
|
|
" 'model.backbones.0.0.body.layer1.1.bn1.running_mean',\n",
|
|
" 'model.backbones.0.0.body.layer1.1.bn1.running_var',\n",
|
|
" 'model.backbones.0.0.body.layer1.1.bn1.num_batches_tracked',\n",
|
|
" 'model.backbones.0.0.body.layer1.1.conv2.weight',\n",
|
|
" 'model.backbones.0.0.body.layer1.1.bn2.weight',\n",
|
|
" 'model.backbones.0.0.body.layer1.1.bn2.bias',\n",
|
|
" 'model.backbones.0.0.body.layer1.1.bn2.running_mean',\n",
|
|
" 'model.backbones.0.0.body.layer1.1.bn2.running_var',\n",
|
|
" 'model.backbones.0.0.body.layer1.1.bn2.num_batches_tracked',\n",
|
|
" 'model.backbones.0.0.body.layer2.0.conv1.weight',\n",
|
|
" 'model.backbones.0.0.body.layer2.0.bn1.weight',\n",
|
|
" 'model.backbones.0.0.body.layer2.0.bn1.bias',\n",
|
|
" 'model.backbones.0.0.body.layer2.0.bn1.running_mean',\n",
|
|
" 'model.backbones.0.0.body.layer2.0.bn1.running_var',\n",
|
|
" 'model.backbones.0.0.body.layer2.0.bn1.num_batches_tracked',\n",
|
|
" 'model.backbones.0.0.body.layer2.0.conv2.weight',\n",
|
|
" 'model.backbones.0.0.body.layer2.0.bn2.weight',\n",
|
|
" 'model.backbones.0.0.body.layer2.0.bn2.bias',\n",
|
|
" 'model.backbones.0.0.body.layer2.0.bn2.running_mean',\n",
|
|
" 'model.backbones.0.0.body.layer2.0.bn2.running_var',\n",
|
|
" 'model.backbones.0.0.body.layer2.0.bn2.num_batches_tracked',\n",
|
|
" 'model.backbones.0.0.body.layer2.0.downsample.0.weight',\n",
|
|
" 'model.backbones.0.0.body.layer2.0.downsample.1.weight',\n",
|
|
" 'model.backbones.0.0.body.layer2.0.downsample.1.bias',\n",
|
|
" 'model.backbones.0.0.body.layer2.0.downsample.1.running_mean',\n",
|
|
" 'model.backbones.0.0.body.layer2.0.downsample.1.running_var',\n",
|
|
" 'model.backbones.0.0.body.layer2.0.downsample.1.num_batches_tracked',\n",
|
|
" 'model.backbones.0.0.body.layer2.1.conv1.weight',\n",
|
|
" 'model.backbones.0.0.body.layer2.1.bn1.weight',\n",
|
|
" 'model.backbones.0.0.body.layer2.1.bn1.bias',\n",
|
|
" 'model.backbones.0.0.body.layer2.1.bn1.running_mean',\n",
|
|
" 'model.backbones.0.0.body.layer2.1.bn1.running_var',\n",
|
|
" 'model.backbones.0.0.body.layer2.1.bn1.num_batches_tracked',\n",
|
|
" 'model.backbones.0.0.body.layer2.1.conv2.weight',\n",
|
|
" 'model.backbones.0.0.body.layer2.1.bn2.weight',\n",
|
|
" 'model.backbones.0.0.body.layer2.1.bn2.bias',\n",
|
|
" 'model.backbones.0.0.body.layer2.1.bn2.running_mean',\n",
|
|
" 'model.backbones.0.0.body.layer2.1.bn2.running_var',\n",
|
|
" 'model.backbones.0.0.body.layer2.1.bn2.num_batches_tracked',\n",
|
|
" 'model.backbones.0.0.body.layer3.0.conv1.weight',\n",
|
|
" 'model.backbones.0.0.body.layer3.0.bn1.weight',\n",
|
|
" 'model.backbones.0.0.body.layer3.0.bn1.bias',\n",
|
|
" 'model.backbones.0.0.body.layer3.0.bn1.running_mean',\n",
|
|
" 'model.backbones.0.0.body.layer3.0.bn1.running_var',\n",
|
|
" 'model.backbones.0.0.body.layer3.0.bn1.num_batches_tracked',\n",
|
|
" 'model.backbones.0.0.body.layer3.0.conv2.weight',\n",
|
|
" 'model.backbones.0.0.body.layer3.0.bn2.weight',\n",
|
|
" 'model.backbones.0.0.body.layer3.0.bn2.bias',\n",
|
|
" 'model.backbones.0.0.body.layer3.0.bn2.running_mean',\n",
|
|
" 'model.backbones.0.0.body.layer3.0.bn2.running_var',\n",
|
|
" 'model.backbones.0.0.body.layer3.0.bn2.num_batches_tracked',\n",
|
|
" 'model.backbones.0.0.body.layer3.0.downsample.0.weight',\n",
|
|
" 'model.backbones.0.0.body.layer3.0.downsample.1.weight',\n",
|
|
" 'model.backbones.0.0.body.layer3.0.downsample.1.bias',\n",
|
|
" 'model.backbones.0.0.body.layer3.0.downsample.1.running_mean',\n",
|
|
" 'model.backbones.0.0.body.layer3.0.downsample.1.running_var',\n",
|
|
" 'model.backbones.0.0.body.layer3.0.downsample.1.num_batches_tracked',\n",
|
|
" 'model.backbones.0.0.body.layer3.1.conv1.weight',\n",
|
|
" 'model.backbones.0.0.body.layer3.1.bn1.weight',\n",
|
|
" 'model.backbones.0.0.body.layer3.1.bn1.bias',\n",
|
|
" 'model.backbones.0.0.body.layer3.1.bn1.running_mean',\n",
|
|
" 'model.backbones.0.0.body.layer3.1.bn1.running_var',\n",
|
|
" 'model.backbones.0.0.body.layer3.1.bn1.num_batches_tracked',\n",
|
|
" 'model.backbones.0.0.body.layer3.1.conv2.weight',\n",
|
|
" 'model.backbones.0.0.body.layer3.1.bn2.weight',\n",
|
|
" 'model.backbones.0.0.body.layer3.1.bn2.bias',\n",
|
|
" 'model.backbones.0.0.body.layer3.1.bn2.running_mean',\n",
|
|
" 'model.backbones.0.0.body.layer3.1.bn2.running_var',\n",
|
|
" 'model.backbones.0.0.body.layer3.1.bn2.num_batches_tracked',\n",
|
|
" 'model.backbones.0.0.body.layer4.0.conv1.weight',\n",
|
|
" 'model.backbones.0.0.body.layer4.0.bn1.weight',\n",
|
|
" 'model.backbones.0.0.body.layer4.0.bn1.bias',\n",
|
|
" 'model.backbones.0.0.body.layer4.0.bn1.running_mean',\n",
|
|
" 'model.backbones.0.0.body.layer4.0.bn1.running_var',\n",
|
|
" 'model.backbones.0.0.body.layer4.0.bn1.num_batches_tracked',\n",
|
|
" 'model.backbones.0.0.body.layer4.0.conv2.weight',\n",
|
|
" 'model.backbones.0.0.body.layer4.0.bn2.weight',\n",
|
|
" 'model.backbones.0.0.body.layer4.0.bn2.bias',\n",
|
|
" 'model.backbones.0.0.body.layer4.0.bn2.running_mean',\n",
|
|
" 'model.backbones.0.0.body.layer4.0.bn2.running_var',\n",
|
|
" 'model.backbones.0.0.body.layer4.0.bn2.num_batches_tracked',\n",
|
|
" 'model.backbones.0.0.body.layer4.0.downsample.0.weight',\n",
|
|
" 'model.backbones.0.0.body.layer4.0.downsample.1.weight',\n",
|
|
" 'model.backbones.0.0.body.layer4.0.downsample.1.bias',\n",
|
|
" 'model.backbones.0.0.body.layer4.0.downsample.1.running_mean',\n",
|
|
" 'model.backbones.0.0.body.layer4.0.downsample.1.running_var',\n",
|
|
" 'model.backbones.0.0.body.layer4.0.downsample.1.num_batches_tracked',\n",
|
|
" 'model.backbones.0.0.body.layer4.1.conv1.weight',\n",
|
|
" 'model.backbones.0.0.body.layer4.1.bn1.weight',\n",
|
|
" 'model.backbones.0.0.body.layer4.1.bn1.bias',\n",
|
|
" 'model.backbones.0.0.body.layer4.1.bn1.running_mean',\n",
|
|
" 'model.backbones.0.0.body.layer4.1.bn1.running_var',\n",
|
|
" 'model.backbones.0.0.body.layer4.1.bn1.num_batches_tracked',\n",
|
|
" 'model.backbones.0.0.body.layer4.1.conv2.weight',\n",
|
|
" 'model.backbones.0.0.body.layer4.1.bn2.weight',\n",
|
|
" 'model.backbones.0.0.body.layer4.1.bn2.bias',\n",
|
|
" 'model.backbones.0.0.body.layer4.1.bn2.running_mean',\n",
|
|
" 'model.backbones.0.0.body.layer4.1.bn2.running_var',\n",
|
|
" 'model.backbones.0.0.body.layer4.1.bn2.num_batches_tracked',\n",
|
|
" 'model.input_proj_robot_state.weight',\n",
|
|
" 'model.input_proj_robot_state.bias',\n",
|
|
" 'model.cls_embed.weight',\n",
|
|
" 'model.encoder_action_proj.weight',\n",
|
|
" 'model.encoder_action_proj.bias',\n",
|
|
" 'model.encoder_joint_proj.weight',\n",
|
|
" 'model.encoder_joint_proj.bias',\n",
|
|
" 'model.latent_proj.weight',\n",
|
|
" 'model.latent_proj.bias',\n",
|
|
" 'model.latent_out_proj.weight',\n",
|
|
" 'model.latent_out_proj.bias',\n",
|
|
" 'model.additional_pos_embed.weight']\n"
|
|
]
|
|
}
|
|
],
|
|
"source": [
|
|
"orig = list(a.keys())\n",
|
|
"pprint(orig)"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": 129,
|
|
"metadata": {},
|
|
"outputs": [],
|
|
"source": [
|
|
"a = torch.load(original_ckpt_path)\n",
|
|
"\n",
|
|
"to_remove_startswith = ['model.transformer.decoder.layers.1.',\n",
|
|
" 'model.transformer.decoder.layers.2.',\n",
|
|
" 'model.transformer.decoder.layers.3.',\n",
|
|
" 'model.transformer.decoder.layers.4.',\n",
|
|
" 'model.transformer.decoder.layers.5.',\n",
|
|
" 'model.transformer.decoder.layers.6.',\n",
|
|
" 'model.is_pad_head']\n",
|
|
"\n",
|
|
"to_remove_in = ['num_batches_tracked',]\n",
|
|
"\n",
|
|
"conv = {}\n",
|
|
"\n",
|
|
"keys = list(a.keys())\n",
|
|
"for k in keys:\n",
|
|
" if any(k.startswith(tr) for tr in to_remove_startswith):\n",
|
|
" a.pop(k)\n",
|
|
" continue\n",
|
|
" if any(tr in k for tr in to_remove_in):\n",
|
|
" a.pop(k)\n",
|
|
" continue\n",
|
|
" if k.startswith('model.transformer.encoder.layers.'):\n",
|
|
" conv[k.replace('transformer.', '')] = a.pop(k)\n",
|
|
" if k.startswith('model.transformer.decoder.layers.0.'):\n",
|
|
" conv[k.replace('transformer.', '')] = a.pop(k)\n",
|
|
" if k.startswith('model.transformer.decoder.norm.'):\n",
|
|
" conv[k.replace('transformer.', '')] = a.pop(k)\n",
|
|
" if k.startswith('model.encoder.layers.'):\n",
|
|
" conv[k.replace('encoder.', 'vae_encoder.')] = a.pop(k)\n",
|
|
" if k.startswith('model.action_head.'):\n",
|
|
" conv[k] = a.pop(k)\n",
|
|
" if k.startswith('model.pos_table'):\n",
|
|
" conv[k.replace('pos_table', 'vae_encoder_pos_enc')] = a.pop(k)\n",
|
|
" if k.startswith('model.query_embed.'):\n",
|
|
" conv[k.replace('query_embed', 'decoder_pos_embed')] = a.pop(k)\n",
|
|
" if k.startswith('model.input_proj.'):\n",
|
|
" conv[k.replace('input_proj.', 'encoder_img_feat_input_proj.')] = a.pop(k)\n",
|
|
" if k.startswith('model.input_proj_robot_state.'):\n",
|
|
" conv[k.replace('input_proj_robot_state.', 'encoder_robot_state_input_proj.')] = a.pop(k)\n",
|
|
" if k.startswith('model.backbones.0.0.body.'):\n",
|
|
" conv[k.replace('backbones.0.0.body', 'backbone')] = a.pop(k)\n",
|
|
" if k.startswith('model.cls_embed.'):\n",
|
|
" conv[k.replace('cls_embed', 'vae_encoder_cls_embed')] = a.pop(k)\n",
|
|
" if k.startswith('model.encoder_action_proj.'):\n",
|
|
" conv[k.replace('encoder_action_proj', 'vae_encoder_action_input_proj')] = a.pop(k)\n",
|
|
" if k.startswith('model.encoder_joint_proj.'):\n",
|
|
" conv[k.replace('encoder_joint_proj', 'vae_encoder_robot_state_input_proj')] = a.pop(k)\n",
|
|
" if k.startswith('model.latent_proj.'):\n",
|
|
" conv[k.replace('latent_proj', 'vae_encoder_latent_output_proj')] = a.pop(k)\n",
|
|
" if k.startswith('model.latent_out_proj.'):\n",
|
|
" conv[k.replace('latent_out_proj', 'encoder_latent_input_proj')] = a.pop(k)\n",
|
|
" if k.startswith('model.additional_pos_embed.'):\n",
|
|
" conv[k.replace('additional_pos_embed', 'encoder_robot_and_latent_pos_embed')] = a.pop(k)"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": 130,
|
|
"metadata": {},
|
|
"outputs": [],
|
|
"source": [
|
|
"conv['normalize_inputs.buffer_observation_images_front.mean'] = image_stats_mean[:, None, None]\n",
|
|
"conv['normalize_inputs.buffer_observation_images_front.std'] = image_stats_std[:, None, None]\n",
|
|
"conv['normalize_inputs.buffer_observation_images_top.mean'] = image_stats_mean[:, None, None].clone()\n",
|
|
"conv['normalize_inputs.buffer_observation_images_top.std'] = image_stats_std[:, None, None].clone()\n",
|
|
"\n",
|
|
"conv['normalize_inputs.buffer_observation_state.mean'] = torch.tensor(stats['qpos_mean'])\n",
|
|
"conv['normalize_inputs.buffer_observation_state.std'] = torch.tensor(stats['qpos_std'])\n",
|
|
"conv['normalize_targets.buffer_action.mean'] = torch.tensor(stats['action_mean'])\n",
|
|
"conv['normalize_targets.buffer_action.std'] = torch.tensor(stats['action_std'])\n",
|
|
"\n",
|
|
"conv['unnormalize_outputs.buffer_action.mean'] = torch.tensor(stats['action_mean'])\n",
|
|
"conv['unnormalize_outputs.buffer_action.std'] = torch.tensor(stats['action_std'])"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": 131,
|
|
"metadata": {},
|
|
"outputs": [
|
|
{
|
|
"data": {
|
|
"text/plain": [
|
|
"OrderedDict()"
|
|
]
|
|
},
|
|
"execution_count": 131,
|
|
"metadata": {},
|
|
"output_type": "execute_result"
|
|
}
|
|
],
|
|
"source": [
|
|
"a"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": 132,
|
|
"metadata": {},
|
|
"outputs": [],
|
|
"source": [
|
|
"not_converted = set(b.keys())\n",
|
|
"for k, v in conv.items():\n",
|
|
" try:\n",
|
|
" b[k].shape == v.squeeze().shape\n",
|
|
" except Exception as e:\n",
|
|
" print(k, v)\n",
|
|
" print(b[k].shape)\n",
|
|
" print(e)\n",
|
|
" b[k] = v\n",
|
|
" not_converted.remove(k)"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": 133,
|
|
"metadata": {},
|
|
"outputs": [
|
|
{
|
|
"data": {
|
|
"text/plain": [
|
|
"set()"
|
|
]
|
|
},
|
|
"execution_count": 133,
|
|
"metadata": {},
|
|
"output_type": "execute_result"
|
|
}
|
|
],
|
|
"source": [
|
|
"not_converted"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": 134,
|
|
"metadata": {},
|
|
"outputs": [
|
|
{
|
|
"name": "stdout",
|
|
"output_type": "stream",
|
|
"text": [
|
|
"defaultdict(<class 'list'>, {})\n"
|
|
]
|
|
}
|
|
],
|
|
"source": [
|
|
"metadata = None\n",
|
|
"to_removes = _remove_duplicate_names(b)\n",
|
|
"print(to_removes)"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": 135,
|
|
"metadata": {},
|
|
"outputs": [],
|
|
"source": [
|
|
"for kept_name, to_remove_group in to_removes.items():\n",
|
|
" for to_remove in to_remove_group:\n",
|
|
" if metadata is None:\n",
|
|
" metadata = {}\n",
|
|
"\n",
|
|
" if to_remove not in metadata:\n",
|
|
" # Do not override user data\n",
|
|
" metadata[to_remove] = kept_name\n",
|
|
" del b[to_remove]\n",
|
|
"save_file(b, converted_ckpt_path)"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": 136,
|
|
"metadata": {},
|
|
"outputs": [
|
|
{
|
|
"data": {
|
|
"text/plain": [
|
|
"'/home/thomwolf/Documents/Github/ACT/checkpoints/blue_red_sort_raw/initial_state/config.yaml'"
|
|
]
|
|
},
|
|
"execution_count": 136,
|
|
"metadata": {},
|
|
"output_type": "execute_result"
|
|
}
|
|
],
|
|
"source": [
|
|
"# Now also copy the config files\n",
|
|
"import shutil\n",
|
|
"shutil.copy(comparison_config_json_path, converted_ckpt_path.replace('model.safetensors', 'config.json'))\n",
|
|
"shutil.copy(comparison_config_yaml_path, converted_ckpt_path.replace('model.safetensors', 'config.yaml'))"
|
|
]
|
|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": 137,
|
|
"metadata": {},
|
|
"outputs": [
|
|
{
|
|
"data": {
|
|
"text/plain": [
|
|
"dict_keys(['model.action_head.bias', 'model.action_head.weight', 'model.backbone.bn1.bias', 'model.backbone.bn1.running_mean', 'model.backbone.bn1.running_var', 'model.backbone.bn1.weight', 'model.backbone.conv1.weight', 'model.backbone.layer1.0.bn1.bias', 'model.backbone.layer1.0.bn1.running_mean', 'model.backbone.layer1.0.bn1.running_var', 'model.backbone.layer1.0.bn1.weight', 'model.backbone.layer1.0.bn2.bias', 'model.backbone.layer1.0.bn2.running_mean', 'model.backbone.layer1.0.bn2.running_var', 'model.backbone.layer1.0.bn2.weight', 'model.backbone.layer1.0.conv1.weight', 'model.backbone.layer1.0.conv2.weight', 'model.backbone.layer1.1.bn1.bias', 'model.backbone.layer1.1.bn1.running_mean', 'model.backbone.layer1.1.bn1.running_var', 'model.backbone.layer1.1.bn1.weight', 'model.backbone.layer1.1.bn2.bias', 'model.backbone.layer1.1.bn2.running_mean', 'model.backbone.layer1.1.bn2.running_var', 'model.backbone.layer1.1.bn2.weight', 'model.backbone.layer1.1.conv1.weight', 'model.backbone.layer1.1.conv2.weight', 'model.backbone.layer2.0.bn1.bias', 'model.backbone.layer2.0.bn1.running_mean', 'model.backbone.layer2.0.bn1.running_var', 'model.backbone.layer2.0.bn1.weight', 'model.backbone.layer2.0.bn2.bias', 'model.backbone.layer2.0.bn2.running_mean', 'model.backbone.layer2.0.bn2.running_var', 'model.backbone.layer2.0.bn2.weight', 'model.backbone.layer2.0.conv1.weight', 'model.backbone.layer2.0.conv2.weight', 'model.backbone.layer2.0.downsample.0.weight', 'model.backbone.layer2.0.downsample.1.bias', 'model.backbone.layer2.0.downsample.1.running_mean', 'model.backbone.layer2.0.downsample.1.running_var', 'model.backbone.layer2.0.downsample.1.weight', 'model.backbone.layer2.1.bn1.bias', 'model.backbone.layer2.1.bn1.running_mean', 'model.backbone.layer2.1.bn1.running_var', 'model.backbone.layer2.1.bn1.weight', 'model.backbone.layer2.1.bn2.bias', 'model.backbone.layer2.1.bn2.running_mean', 'model.backbone.layer2.1.bn2.running_var', 'model.backbone.layer2.1.bn2.weight', 'model.backbone.layer2.1.conv1.weight', 'model.backbone.layer2.1.conv2.weight', 'model.backbone.layer3.0.bn1.bias', 'model.backbone.layer3.0.bn1.running_mean', 'model.backbone.layer3.0.bn1.running_var', 'model.backbone.layer3.0.bn1.weight', 'model.backbone.layer3.0.bn2.bias', 'model.backbone.layer3.0.bn2.running_mean', 'model.backbone.layer3.0.bn2.running_var', 'model.backbone.layer3.0.bn2.weight', 'model.backbone.layer3.0.conv1.weight', 'model.backbone.layer3.0.conv2.weight', 'model.backbone.layer3.0.downsample.0.weight', 'model.backbone.layer3.0.downsample.1.bias', 'model.backbone.layer3.0.downsample.1.running_mean', 'model.backbone.layer3.0.downsample.1.running_var', 'model.backbone.layer3.0.downsample.1.weight', 'model.backbone.layer3.1.bn1.bias', 'model.backbone.layer3.1.bn1.running_mean', 'model.backbone.layer3.1.bn1.running_var', 'model.backbone.layer3.1.bn1.weight', 'model.backbone.layer3.1.bn2.bias', 'model.backbone.layer3.1.bn2.running_mean', 'model.backbone.layer3.1.bn2.running_var', 'model.backbone.layer3.1.bn2.weight', 'model.backbone.layer3.1.conv1.weight', 'model.backbone.layer3.1.conv2.weight', 'model.backbone.layer4.0.bn1.bias', 'model.backbone.layer4.0.bn1.running_mean', 'model.backbone.layer4.0.bn1.running_var', 'model.backbone.layer4.0.bn1.weight', 'model.backbone.layer4.0.bn2.bias', 'model.backbone.layer4.0.bn2.running_mean', 'model.backbone.layer4.0.bn2.running_var', 'model.backbone.layer4.0.bn2.weight', 'model.backbone.layer4.0.conv1.weight', 'model.backbone.layer4.0.conv2.weight', 'model.backbone.layer4.0.downsample.0.weight', 'model.backbone.layer4.0.downsample.1.bias', 'model.backbone.layer4.0.downsample.1.running_mean', 'model.backbone.layer4.0.downsample.1.running_var', 'model.backbone.layer4.0.downsample.1.weight', 'model.backbone.layer4.1.bn1.bias', 'model.backbone.layer4.1.bn1.running_mean', 'model.backbone.layer4.1.bn1.running_var', 'model.backbone.layer4.1.bn1.weight', 'model.backbone.layer4.1.bn2.bias', 'model.backbone.layer4.1.bn2.running_mean', 'model.backbone.layer4.1.bn2.running_var', 'model.backbone.layer4.1.bn2.weight', 'model.backbone.layer4.1.conv1.weight', 'model.backbone.layer4.1.conv2.weight', 'model.decoder.layers.0.linear1.bias', 'model.decoder.layers.0.linear1.weight', 'model.decoder.layers.0.linear2.bias', 'model.decoder.layers.0.linear2.weight', 'model.decoder.layers.0.multihead_attn.in_proj_bias', 'model.decoder.layers.0.multihead_attn.in_proj_weight', 'model.decoder.layers.0.multihead_attn.out_proj.bias', 'model.decoder.layers.0.multihead_attn.out_proj.weight', 'model.decoder.layers.0.norm1.bias', 'model.decoder.layers.0.norm1.weight', 'model.decoder.layers.0.norm2.bias', 'model.decoder.layers.0.norm2.weight', 'model.decoder.layers.0.norm3.bias', 'model.decoder.layers.0.norm3.weight', 'model.decoder.layers.0.self_attn.in_proj_bias', 'model.decoder.layers.0.self_attn.in_proj_weight', 'model.decoder.layers.0.self_attn.out_proj.bias', 'model.decoder.layers.0.self_attn.out_proj.weight', 'model.decoder_pos_embed.weight', 'model.encoder.layers.0.linear1.bias', 'model.encoder.layers.0.linear1.weight', 'model.encoder.layers.0.linear2.bias', 'model.encoder.layers.0.linear2.weight', 'model.encoder.layers.0.norm1.bias', 'model.encoder.layers.0.norm1.weight', 'model.encoder.layers.0.norm2.bias', 'model.encoder.layers.0.norm2.weight', 'model.encoder.layers.0.self_attn.in_proj_bias', 'model.encoder.layers.0.self_attn.in_proj_weight', 'model.encoder.layers.0.self_attn.out_proj.bias', 'model.encoder.layers.0.self_attn.out_proj.weight', 'model.encoder.layers.1.linear1.bias', 'model.encoder.layers.1.linear1.weight', 'model.encoder.layers.1.linear2.bias', 'model.encoder.layers.1.linear2.weight', 'model.encoder.layers.1.norm1.bias', 'model.encoder.layers.1.norm1.weight', 'model.encoder.layers.1.norm2.bias', 'model.encoder.layers.1.norm2.weight', 'model.encoder.layers.1.self_attn.in_proj_bias', 'model.encoder.layers.1.self_attn.in_proj_weight', 'model.encoder.layers.1.self_attn.out_proj.bias', 'model.encoder.layers.1.self_attn.out_proj.weight', 'model.encoder.layers.2.linear1.bias', 'model.encoder.layers.2.linear1.weight', 'model.encoder.layers.2.linear2.bias', 'model.encoder.layers.2.linear2.weight', 'model.encoder.layers.2.norm1.bias', 'model.encoder.layers.2.norm1.weight', 'model.encoder.layers.2.norm2.bias', 'model.encoder.layers.2.norm2.weight', 'model.encoder.layers.2.self_attn.in_proj_bias', 'model.encoder.layers.2.self_attn.in_proj_weight', 'model.encoder.layers.2.self_attn.out_proj.bias', 'model.encoder.layers.2.self_attn.out_proj.weight', 'model.encoder.layers.3.linear1.bias', 'model.encoder.layers.3.linear1.weight', 'model.encoder.layers.3.linear2.bias', 'model.encoder.layers.3.linear2.weight', 'model.encoder.layers.3.norm1.bias', 'model.encoder.layers.3.norm1.weight', 'model.encoder.layers.3.norm2.bias', 'model.encoder.layers.3.norm2.weight', 'model.encoder.layers.3.self_attn.in_proj_bias', 'model.encoder.layers.3.self_attn.in_proj_weight', 'model.encoder.layers.3.self_attn.out_proj.bias', 'model.encoder.layers.3.self_attn.out_proj.weight', 'model.encoder_img_feat_input_proj.bias', 'model.encoder_img_feat_input_proj.weight', 'model.encoder_latent_input_proj.bias', 'model.encoder_latent_input_proj.weight', 'model.encoder_robot_and_latent_pos_embed.weight', 'model.encoder_robot_state_input_proj.bias', 'model.encoder_robot_state_input_proj.weight', 'model.vae_encoder.layers.0.linear1.bias', 'model.vae_encoder.layers.0.linear1.weight', 'model.vae_encoder.layers.0.linear2.bias', 'model.vae_encoder.layers.0.linear2.weight', 'model.vae_encoder.layers.0.norm1.bias', 'model.vae_encoder.layers.0.norm1.weight', 'model.vae_encoder.layers.0.norm2.bias', 'model.vae_encoder.layers.0.norm2.weight', 'model.vae_encoder.layers.0.self_attn.in_proj_bias', 'model.vae_encoder.layers.0.self_attn.in_proj_weight', 'model.vae_encoder.layers.0.self_attn.out_proj.bias', 'model.vae_encoder.layers.0.self_attn.out_proj.weight', 'model.vae_encoder.layers.1.linear1.bias', 'model.vae_encoder.layers.1.linear1.weight', 'model.vae_encoder.layers.1.linear2.bias', 'model.vae_encoder.layers.1.linear2.weight', 'model.vae_encoder.layers.1.norm1.bias', 'model.vae_encoder.layers.1.norm1.weight', 'model.vae_encoder.layers.1.norm2.bias', 'model.vae_encoder.layers.1.norm2.weight', 'model.vae_encoder.layers.1.self_attn.in_proj_bias', 'model.vae_encoder.layers.1.self_attn.in_proj_weight', 'model.vae_encoder.layers.1.self_attn.out_proj.bias', 'model.vae_encoder.layers.1.self_attn.out_proj.weight', 'model.vae_encoder.layers.2.linear1.bias', 'model.vae_encoder.layers.2.linear1.weight', 'model.vae_encoder.layers.2.linear2.bias', 'model.vae_encoder.layers.2.linear2.weight', 'model.vae_encoder.layers.2.norm1.bias', 'model.vae_encoder.layers.2.norm1.weight', 'model.vae_encoder.layers.2.norm2.bias', 'model.vae_encoder.layers.2.norm2.weight', 'model.vae_encoder.layers.2.self_attn.in_proj_bias', 'model.vae_encoder.layers.2.self_attn.in_proj_weight', 'model.vae_encoder.layers.2.self_attn.out_proj.bias', 'model.vae_encoder.layers.2.self_attn.out_proj.weight', 'model.vae_encoder.layers.3.linear1.bias', 'model.vae_encoder.layers.3.linear1.weight', 'model.vae_encoder.layers.3.linear2.bias', 'model.vae_encoder.layers.3.linear2.weight', 'model.vae_encoder.layers.3.norm1.bias', 'model.vae_encoder.layers.3.norm1.weight', 'model.vae_encoder.layers.3.norm2.bias', 'model.vae_encoder.layers.3.norm2.weight', 'model.vae_encoder.layers.3.self_attn.in_proj_bias', 'model.vae_encoder.layers.3.self_attn.in_proj_weight', 'model.vae_encoder.layers.3.self_attn.out_proj.bias', 'model.vae_encoder.layers.3.self_attn.out_proj.weight', 'model.vae_encoder_action_input_proj.bias', 'model.vae_encoder_action_input_proj.weight', 'model.vae_encoder_cls_embed.weight', 'model.vae_encoder_latent_output_proj.bias', 'model.vae_encoder_latent_output_proj.weight', 'model.vae_encoder_pos_enc', 'model.vae_encoder_robot_state_input_proj.bias', 'model.vae_encoder_robot_state_input_proj.weight', 'normalize_inputs.buffer_observation_images_front.mean', 'normalize_inputs.buffer_observation_images_front.std', 'normalize_inputs.buffer_observation_images_top.mean', 'normalize_inputs.buffer_observation_images_top.std', 'normalize_inputs.buffer_observation_state.mean', 'normalize_inputs.buffer_observation_state.std', 'normalize_targets.buffer_action.mean', 'normalize_targets.buffer_action.std', 'unnormalize_outputs.buffer_action.mean', 'unnormalize_outputs.buffer_action.std'])"
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]
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},
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|
"execution_count": 137,
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|
"metadata": {},
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|
"output_type": "execute_result"
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|
}
|
|
],
|
|
"source": [
|
|
"c = load_file(converted_ckpt_path)\n",
|
|
"c.keys()"
|
|
]
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},
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|
{
|
|
"cell_type": "code",
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|
"execution_count": 105,
|
|
"metadata": {},
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"outputs": [
|
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{
|
|
"data": {
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"text/plain": [
|
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"tensor([[[0.4850]],\n",
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"\n",
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" [[0.4560]],\n",
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"\n",
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" [[0.4060]]])"
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]
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},
|
|
"execution_count": 105,
|
|
"metadata": {},
|
|
"output_type": "execute_result"
|
|
}
|
|
],
|
|
"source": [
|
|
"c['normalize_inputs.buffer_observation_images_front.mean']"
|
|
]
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|
},
|
|
{
|
|
"cell_type": "code",
|
|
"execution_count": null,
|
|
"metadata": {},
|
|
"outputs": [],
|
|
"source": []
|
|
}
|
|
],
|
|
"metadata": {
|
|
"kernelspec": {
|
|
"display_name": "lerobot",
|
|
"language": "python",
|
|
"name": "python3"
|
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},
|
|
"language_info": {
|
|
"codemirror_mode": {
|
|
"name": "ipython",
|
|
"version": 3
|
|
},
|
|
"file_extension": ".py",
|
|
"mimetype": "text/x-python",
|
|
"name": "python",
|
|
"nbconvert_exporter": "python",
|
|
"pygments_lexer": "ipython3",
|
|
"version": "3.10.14"
|
|
}
|
|
},
|
|
"nbformat": 4,
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"nbformat_minor": 2
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}
|