wangzixiang
/
lerobot
mirror of https://github.com/huggingface/lerobot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

conversion script from original ACT repo

This commit is contained in:
Thomas Wolf 2024-06-10 23:44:33 +02:00
parent ddaaa9f279
commit a7c030076f
1 changed files with 840 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

840
examples/real_robot_example/convert_original_act_checkpoint.ipynb Normal file
View File

@ -0,0 +1,840 @@
{
"cells": [
{
"cell_type": "code",
"execution_count": 48,
"metadata": {},
"outputs": [],
"source": [
"import torch\n",
"from safetensors.torch import load_file, save_file\n",
"from pprint import pprint"
]
},
{
"cell_type": "code",
"execution_count": 52,
"metadata": {},
"outputs": [],
"source": [
"original_ckpt_path = \"/home/thomwolf/Documents/Github/ACT/checkpoints/blue_red_sort/policy_last.ckpt\"\n",
"converted_ckpt_path = \"/home/thomwolf/Documents/Github/ACT/checkpoints/blue_red_sort/model.safetensors\"\n",
"\n",
"comparison_main_path = \"/home/thomwolf/Documents/Github/lerobot/examples/real_robot_example/outputs/train/blue_red_debug_no_masking/checkpoints/last/pretrained_model/\"\n",
"comparison_safetensor_path = comparison_main_path + \"model.safetensors\"\n",
"comparison_config_json_path = comparison_main_path + \"config.json\"\n",
"comparison_config_yaml_path = comparison_main_path + \"config.yaml\""
]
},
{
"cell_type": "code",
"execution_count": 28,
"metadata": {},
"outputs": [],
"source": [
"a = torch.load(original_ckpt_path)"
]
},
{
"cell_type": "code",
"execution_count": 6,
"metadata": {},
"outputs": [],
"source": [
"b = load_file(comparison_safetensor_path)"
]
},
{
"cell_type": "code",
"execution_count": 17,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"['model.action_head.bias',\n",
" 'model.action_head.weight',\n",
" 'model.backbone.bn1.bias',\n",
" 'model.backbone.bn1.running_mean',\n",
" 'model.backbone.bn1.running_var',\n",
" 'model.backbone.bn1.weight',\n",
" 'model.backbone.conv1.weight',\n",
" 'model.backbone.layer1.0.bn1.bias',\n",
" 'model.backbone.layer1.0.bn1.running_mean',\n",
" 'model.backbone.layer1.0.bn1.running_var',\n",
" 'model.backbone.layer1.0.bn1.weight',\n",
" 'model.backbone.layer1.0.bn2.bias',\n",
" 'model.backbone.layer1.0.bn2.running_mean',\n",
" 'model.backbone.layer1.0.bn2.running_var',\n",
" 'model.backbone.layer1.0.bn2.weight',\n",
" 'model.backbone.layer1.0.conv1.weight',\n",
" 'model.backbone.layer1.0.conv2.weight',\n",
" 'model.backbone.layer1.1.bn1.bias',\n",
" 'model.backbone.layer1.1.bn1.running_mean',\n",
" 'model.backbone.layer1.1.bn1.running_var',\n",
" 'model.backbone.layer1.1.bn1.weight',\n",
" 'model.backbone.layer1.1.bn2.bias',\n",
" 'model.backbone.layer1.1.bn2.running_mean',\n",
" 'model.backbone.layer1.1.bn2.running_var',\n",
" 'model.backbone.layer1.1.bn2.weight',\n",
" 'model.backbone.layer1.1.conv1.weight',\n",
" 'model.backbone.layer1.1.conv2.weight',\n",
" 'model.backbone.layer2.0.bn1.bias',\n",
" 'model.backbone.layer2.0.bn1.running_mean',\n",
" 'model.backbone.layer2.0.bn1.running_var',\n",
" 'model.backbone.layer2.0.bn1.weight',\n",
" 'model.backbone.layer2.0.bn2.bias',\n",
" 'model.backbone.layer2.0.bn2.running_mean',\n",
" 'model.backbone.layer2.0.bn2.running_var',\n",
" 'model.backbone.layer2.0.bn2.weight',\n",
" 'model.backbone.layer2.0.conv1.weight',\n",
" 'model.backbone.layer2.0.conv2.weight',\n",
" 'model.backbone.layer2.0.downsample.0.weight',\n",
" 'model.backbone.layer2.0.downsample.1.bias',\n",
" 'model.backbone.layer2.0.downsample.1.running_mean',\n",
" 'model.backbone.layer2.0.downsample.1.running_var',\n",
" 'model.backbone.layer2.0.downsample.1.weight',\n",
" 'model.backbone.layer2.1.bn1.bias',\n",
" 'model.backbone.layer2.1.bn1.running_mean',\n",
" 'model.backbone.layer2.1.bn1.running_var',\n",
" 'model.backbone.layer2.1.bn1.weight',\n",
" 'model.backbone.layer2.1.bn2.bias',\n",
" 'model.backbone.layer2.1.bn2.running_mean',\n",
" 'model.backbone.layer2.1.bn2.running_var',\n",
" 'model.backbone.layer2.1.bn2.weight',\n",
" 'model.backbone.layer2.1.conv1.weight',\n",
" 'model.backbone.layer2.1.conv2.weight',\n",
" 'model.backbone.layer3.0.bn1.bias',\n",
" 'model.backbone.layer3.0.bn1.running_mean',\n",
" 'model.backbone.layer3.0.bn1.running_var',\n",
" 'model.backbone.layer3.0.bn1.weight',\n",
" 'model.backbone.layer3.0.bn2.bias',\n",
" 'model.backbone.layer3.0.bn2.running_mean',\n",
" 'model.backbone.layer3.0.bn2.running_var',\n",
" 'model.backbone.layer3.0.bn2.weight',\n",
" 'model.backbone.layer3.0.conv1.weight',\n",
" 'model.backbone.layer3.0.conv2.weight',\n",
" 'model.backbone.layer3.0.downsample.0.weight',\n",
" 'model.backbone.layer3.0.downsample.1.bias',\n",
" 'model.backbone.layer3.0.downsample.1.running_mean',\n",
" 'model.backbone.layer3.0.downsample.1.running_var',\n",
" 'model.backbone.layer3.0.downsample.1.weight',\n",
" 'model.backbone.layer3.1.bn1.bias',\n",
" 'model.backbone.layer3.1.bn1.running_mean',\n",
" 'model.backbone.layer3.1.bn1.running_var',\n",
" 'model.backbone.layer3.1.bn1.weight',\n",
" 'model.backbone.layer3.1.bn2.bias',\n",
" 'model.backbone.layer3.1.bn2.running_mean',\n",
" 'model.backbone.layer3.1.bn2.running_var',\n",
" 'model.backbone.layer3.1.bn2.weight',\n",
" 'model.backbone.layer3.1.conv1.weight',\n",
" 'model.backbone.layer3.1.conv2.weight',\n",
" 'model.backbone.layer4.0.bn1.bias',\n",
" 'model.backbone.layer4.0.bn1.running_mean',\n",
" 'model.backbone.layer4.0.bn1.running_var',\n",
" 'model.backbone.layer4.0.bn1.weight',\n",
" 'model.backbone.layer4.0.bn2.bias',\n",
" 'model.backbone.layer4.0.bn2.running_mean',\n",
" 'model.backbone.layer4.0.bn2.running_var',\n",
" 'model.backbone.layer4.0.bn2.weight',\n",
" 'model.backbone.layer4.0.conv1.weight',\n",
" 'model.backbone.layer4.0.conv2.weight',\n",
" 'model.backbone.layer4.0.downsample.0.weight',\n",
" 'model.backbone.layer4.0.downsample.1.bias',\n",
" 'model.backbone.layer4.0.downsample.1.running_mean',\n",
" 'model.backbone.layer4.0.downsample.1.running_var',\n",
" 'model.backbone.layer4.0.downsample.1.weight',\n",
" 'model.backbone.layer4.1.bn1.bias',\n",
" 'model.backbone.layer4.1.bn1.running_mean',\n",
" 'model.backbone.layer4.1.bn1.running_var',\n",
" 'model.backbone.layer4.1.bn1.weight',\n",
" 'model.backbone.layer4.1.bn2.bias',\n",
" 'model.backbone.layer4.1.bn2.running_mean',\n",
" 'model.backbone.layer4.1.bn2.running_var',\n",
" 'model.backbone.layer4.1.bn2.weight',\n",
" 'model.backbone.layer4.1.conv1.weight',\n",
" 'model.backbone.layer4.1.conv2.weight',\n",
" 'model.decoder.layers.0.linear1.bias',\n",
" 'model.decoder.layers.0.linear1.weight',\n",
" 'model.decoder.layers.0.linear2.bias',\n",
" 'model.decoder.layers.0.linear2.weight',\n",
" 'model.decoder.layers.0.multihead_attn.in_proj_bias',\n",
" 'model.decoder.layers.0.multihead_attn.in_proj_weight',\n",
" 'model.decoder.layers.0.multihead_attn.out_proj.bias',\n",
" 'model.decoder.layers.0.multihead_attn.out_proj.weight',\n",
" 'model.decoder.layers.0.norm1.bias',\n",
" 'model.decoder.layers.0.norm1.weight',\n",
" 'model.decoder.layers.0.norm2.bias',\n",
" 'model.decoder.layers.0.norm2.weight',\n",
" 'model.decoder.layers.0.norm3.bias',\n",
" 'model.decoder.layers.0.norm3.weight',\n",
" 'model.decoder.layers.0.self_attn.in_proj_bias',\n",
" 'model.decoder.layers.0.self_attn.in_proj_weight',\n",
" 'model.decoder.layers.0.self_attn.out_proj.bias',\n",
" 'model.decoder.layers.0.self_attn.out_proj.weight',\n",
" 'model.decoder_pos_embed.weight',\n",
" 'model.encoder.layers.0.linear1.bias',\n",
" 'model.encoder.layers.0.linear1.weight',\n",
" 'model.encoder.layers.0.linear2.bias',\n",
" 'model.encoder.layers.0.linear2.weight',\n",
" 'model.encoder.layers.0.norm1.bias',\n",
" 'model.encoder.layers.0.norm1.weight',\n",
" 'model.encoder.layers.0.norm2.bias',\n",
" 'model.encoder.layers.0.norm2.weight',\n",
" 'model.encoder.layers.0.self_attn.in_proj_bias',\n",
" 'model.encoder.layers.0.self_attn.in_proj_weight',\n",
" 'model.encoder.layers.0.self_attn.out_proj.bias',\n",
" 'model.encoder.layers.0.self_attn.out_proj.weight',\n",
" 'model.encoder.layers.1.linear1.bias',\n",
" 'model.encoder.layers.1.linear1.weight',\n",
" 'model.encoder.layers.1.linear2.bias',\n",
" 'model.encoder.layers.1.linear2.weight',\n",
" 'model.encoder.layers.1.norm1.bias',\n",
" 'model.encoder.layers.1.norm1.weight',\n",
" 'model.encoder.layers.1.norm2.bias',\n",
" 'model.encoder.layers.1.norm2.weight',\n",
" 'model.encoder.layers.1.self_attn.in_proj_bias',\n",
" 'model.encoder.layers.1.self_attn.in_proj_weight',\n",
" 'model.encoder.layers.1.self_attn.out_proj.bias',\n",
" 'model.encoder.layers.1.self_attn.out_proj.weight',\n",
" 'model.encoder.layers.2.linear1.bias',\n",
" 'model.encoder.layers.2.linear1.weight',\n",
" 'model.encoder.layers.2.linear2.bias',\n",
" 'model.encoder.layers.2.linear2.weight',\n",
" 'model.encoder.layers.2.norm1.bias',\n",
" 'model.encoder.layers.2.norm1.weight',\n",
" 'model.encoder.layers.2.norm2.bias',\n",
" 'model.encoder.layers.2.norm2.weight',\n",
" 'model.encoder.layers.2.self_attn.in_proj_bias',\n",
" 'model.encoder.layers.2.self_attn.in_proj_weight',\n",
" 'model.encoder.layers.2.self_attn.out_proj.bias',\n",
" 'model.encoder.layers.2.self_attn.out_proj.weight',\n",
" 'model.encoder.layers.3.linear1.bias',\n",
" 'model.encoder.layers.3.linear1.weight',\n",
" 'model.encoder.layers.3.linear2.bias',\n",
" 'model.encoder.layers.3.linear2.weight',\n",
" 'model.encoder.layers.3.norm1.bias',\n",
" 'model.encoder.layers.3.norm1.weight',\n",
" 'model.encoder.layers.3.norm2.bias',\n",
" 'model.encoder.layers.3.norm2.weight',\n",
" 'model.encoder.layers.3.self_attn.in_proj_bias',\n",
" 'model.encoder.layers.3.self_attn.in_proj_weight',\n",
" 'model.encoder.layers.3.self_attn.out_proj.bias',\n",
" 'model.encoder.layers.3.self_attn.out_proj.weight',\n",
" 'model.encoder_img_feat_input_proj.bias',\n",
" 'model.encoder_img_feat_input_proj.weight',\n",
" 'model.encoder_latent_input_proj.bias',\n",
" 'model.encoder_latent_input_proj.weight',\n",
" 'model.encoder_robot_and_latent_pos_embed.weight',\n",
" 'model.encoder_robot_state_input_proj.bias',\n",
" 'model.encoder_robot_state_input_proj.weight',\n",
" 'model.vae_encoder.layers.0.linear1.bias',\n",
" 'model.vae_encoder.layers.0.linear1.weight',\n",
" 'model.vae_encoder.layers.0.linear2.bias',\n",
" 'model.vae_encoder.layers.0.linear2.weight',\n",
" 'model.vae_encoder.layers.0.norm1.bias',\n",
" 'model.vae_encoder.layers.0.norm1.weight',\n",
" 'model.vae_encoder.layers.0.norm2.bias',\n",
" 'model.vae_encoder.layers.0.norm2.weight',\n",
" 'model.vae_encoder.layers.0.self_attn.in_proj_bias',\n",
" 'model.vae_encoder.layers.0.self_attn.in_proj_weight',\n",
" 'model.vae_encoder.layers.0.self_attn.out_proj.bias',\n",
" 'model.vae_encoder.layers.0.self_attn.out_proj.weight',\n",
" 'model.vae_encoder.layers.1.linear1.bias',\n",
" 'model.vae_encoder.layers.1.linear1.weight',\n",
" 'model.vae_encoder.layers.1.linear2.bias',\n",
" 'model.vae_encoder.layers.1.linear2.weight',\n",
" 'model.vae_encoder.layers.1.norm1.bias',\n",
" 'model.vae_encoder.layers.1.norm1.weight',\n",
" 'model.vae_encoder.layers.1.norm2.bias',\n",
" 'model.vae_encoder.layers.1.norm2.weight',\n",
" 'model.vae_encoder.layers.1.self_attn.in_proj_bias',\n",
" 'model.vae_encoder.layers.1.self_attn.in_proj_weight',\n",
" 'model.vae_encoder.layers.1.self_attn.out_proj.bias',\n",
" 'model.vae_encoder.layers.1.self_attn.out_proj.weight',\n",
" 'model.vae_encoder.layers.2.linear1.bias',\n",
" 'model.vae_encoder.layers.2.linear1.weight',\n",
" 'model.vae_encoder.layers.2.linear2.bias',\n",
" 'model.vae_encoder.layers.2.linear2.weight',\n",
" 'model.vae_encoder.layers.2.norm1.bias',\n",
" 'model.vae_encoder.layers.2.norm1.weight',\n",
" 'model.vae_encoder.layers.2.norm2.bias',\n",
" 'model.vae_encoder.layers.2.norm2.weight',\n",
" 'model.vae_encoder.layers.2.self_attn.in_proj_bias',\n",
" 'model.vae_encoder.layers.2.self_attn.in_proj_weight',\n",
" 'model.vae_encoder.layers.2.self_attn.out_proj.bias',\n",
" 'model.vae_encoder.layers.2.self_attn.out_proj.weight',\n",
" 'model.vae_encoder.layers.3.linear1.bias',\n",
" 'model.vae_encoder.layers.3.linear1.weight',\n",
" 'model.vae_encoder.layers.3.linear2.bias',\n",
" 'model.vae_encoder.layers.3.linear2.weight',\n",
" 'model.vae_encoder.layers.3.norm1.bias',\n",
" 'model.vae_encoder.layers.3.norm1.weight',\n",
" '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": 29,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"['model.pos_table',\n",
" 'model.transformer.encoder.layers.0.self_attn.in_proj_weight',\n",
" 'model.transformer.encoder.layers.0.self_attn.in_proj_bias',\n",
" 'model.transformer.encoder.layers.0.self_attn.out_proj.weight',\n",
" 'model.transformer.encoder.layers.0.self_attn.out_proj.bias',\n",
" 'model.transformer.encoder.layers.0.linear1.weight',\n",
" 'model.transformer.encoder.layers.0.linear1.bias',\n",
" 'model.transformer.encoder.layers.0.linear2.weight',\n",
" 'model.transformer.encoder.layers.0.linear2.bias',\n",
" 'model.transformer.encoder.layers.0.norm1.weight',\n",
" 'model.transformer.encoder.layers.0.norm1.bias',\n",
" 'model.transformer.encoder.layers.0.norm2.weight',\n",
" 'model.transformer.encoder.layers.0.norm2.bias',\n",
" 'model.transformer.encoder.layers.1.self_attn.in_proj_weight',\n",
" 'model.transformer.encoder.layers.1.self_attn.in_proj_bias',\n",
" 'model.transformer.encoder.layers.1.self_attn.out_proj.weight',\n",
" 'model.transformer.encoder.layers.1.self_attn.out_proj.bias',\n",
" 'model.transformer.encoder.layers.1.linear1.weight',\n",
" 'model.transformer.encoder.layers.1.linear1.bias',\n",
" 'model.transformer.encoder.layers.1.linear2.weight',\n",
" 'model.transformer.encoder.layers.1.linear2.bias',\n",
" 'model.transformer.encoder.layers.1.norm1.weight',\n",
" 'model.transformer.encoder.layers.1.norm1.bias',\n",
" 'model.transformer.encoder.layers.1.norm2.weight',\n",
" 'model.transformer.encoder.layers.1.norm2.bias',\n",
" 'model.transformer.encoder.layers.2.self_attn.in_proj_weight',\n",
" 'model.transformer.encoder.layers.2.self_attn.in_proj_bias',\n",
" 'model.transformer.encoder.layers.2.self_attn.out_proj.weight',\n",
" 'model.transformer.encoder.layers.2.self_attn.out_proj.bias',\n",
" 'model.transformer.encoder.layers.2.linear1.weight',\n",
" 'model.transformer.encoder.layers.2.linear1.bias',\n",
" 'model.transformer.encoder.layers.2.linear2.weight',\n",
" 'model.transformer.encoder.layers.2.linear2.bias',\n",
" 'model.transformer.encoder.layers.2.norm1.weight',\n",
" 'model.transformer.encoder.layers.2.norm1.bias',\n",
" 'model.transformer.encoder.layers.2.norm2.weight',\n",
" 'model.transformer.encoder.layers.2.norm2.bias',\n",
" 'model.transformer.encoder.layers.3.self_attn.in_proj_weight',\n",
" 'model.transformer.encoder.layers.3.self_attn.in_proj_bias',\n",
" 'model.transformer.encoder.layers.3.self_attn.out_proj.weight',\n",
" 'model.transformer.encoder.layers.3.self_attn.out_proj.bias',\n",
" 'model.transformer.encoder.layers.3.linear1.weight',\n",
" 'model.transformer.encoder.layers.3.linear1.bias',\n",
" 'model.transformer.encoder.layers.3.linear2.weight',\n",
" 'model.transformer.encoder.layers.3.linear2.bias',\n",
" 'model.transformer.encoder.layers.3.norm1.weight',\n",
" 'model.transformer.encoder.layers.3.norm1.bias',\n",
" 'model.transformer.encoder.layers.3.norm2.weight',\n",
" 'model.transformer.encoder.layers.3.norm2.bias',\n",
" 'model.transformer.decoder.layers.0.self_attn.in_proj_weight',\n",
" 'model.transformer.decoder.layers.0.self_attn.in_proj_bias',\n",
" 'model.transformer.decoder.layers.0.self_attn.out_proj.weight',\n",
" 'model.transformer.decoder.layers.0.self_attn.out_proj.bias',\n",
" 'model.transformer.decoder.layers.0.multihead_attn.in_proj_weight',\n",
" 'model.transformer.decoder.layers.0.multihead_attn.in_proj_bias',\n",
" 'model.transformer.decoder.layers.0.multihead_attn.out_proj.weight',\n",
" 'model.transformer.decoder.layers.0.multihead_attn.out_proj.bias',\n",
" 'model.transformer.decoder.layers.0.linear1.weight',\n",
" 'model.transformer.decoder.layers.0.linear1.bias',\n",
" 'model.transformer.decoder.layers.0.linear2.weight',\n",
" 'model.transformer.decoder.layers.0.linear2.bias',\n",
" 'model.transformer.decoder.layers.0.norm1.weight',\n",
" 'model.transformer.decoder.layers.0.norm1.bias',\n",
" 'model.transformer.decoder.layers.0.norm2.weight',\n",
" 'model.transformer.decoder.layers.0.norm2.bias',\n",
" 'model.transformer.decoder.layers.0.norm3.weight',\n",
" 'model.transformer.decoder.layers.0.norm3.bias',\n",
" 'model.transformer.decoder.layers.1.self_attn.in_proj_weight',\n",
" 'model.transformer.decoder.layers.1.self_attn.in_proj_bias',\n",
" 'model.transformer.decoder.layers.1.self_attn.out_proj.weight',\n",
" 'model.transformer.decoder.layers.1.self_attn.out_proj.bias',\n",
" 'model.transformer.decoder.layers.1.multihead_attn.in_proj_weight',\n",
" 'model.transformer.decoder.layers.1.multihead_attn.in_proj_bias',\n",
" 'model.transformer.decoder.layers.1.multihead_attn.out_proj.weight',\n",
" 'model.transformer.decoder.layers.1.multihead_attn.out_proj.bias',\n",
" 'model.transformer.decoder.layers.1.linear1.weight',\n",
" 'model.transformer.decoder.layers.1.linear1.bias',\n",
" 'model.transformer.decoder.layers.1.linear2.weight',\n",
" 'model.transformer.decoder.layers.1.linear2.bias',\n",
" 'model.transformer.decoder.layers.1.norm1.weight',\n",
" 'model.transformer.decoder.layers.1.norm1.bias',\n",
" 'model.transformer.decoder.layers.1.norm2.weight',\n",
" 'model.transformer.decoder.layers.1.norm2.bias',\n",
" 'model.transformer.decoder.layers.1.norm3.weight',\n",
" 'model.transformer.decoder.layers.1.norm3.bias',\n",
" 'model.transformer.decoder.layers.2.self_attn.in_proj_weight',\n",
" 'model.transformer.decoder.layers.2.self_attn.in_proj_bias',\n",
" 'model.transformer.decoder.layers.2.self_attn.out_proj.weight',\n",
" 'model.transformer.decoder.layers.2.self_attn.out_proj.bias',\n",
" 'model.transformer.decoder.layers.2.multihead_attn.in_proj_weight',\n",
" 'model.transformer.decoder.layers.2.multihead_attn.in_proj_bias',\n",
" 'model.transformer.decoder.layers.2.multihead_attn.out_proj.weight',\n",
" 'model.transformer.decoder.layers.2.multihead_attn.out_proj.bias',\n",
" 'model.transformer.decoder.layers.2.linear1.weight',\n",
" 'model.transformer.decoder.layers.2.linear1.bias',\n",
" 'model.transformer.decoder.layers.2.linear2.weight',\n",
" 'model.transformer.decoder.layers.2.linear2.bias',\n",
" 'model.transformer.decoder.layers.2.norm1.weight',\n",
" 'model.transformer.decoder.layers.2.norm1.bias',\n",
" 'model.transformer.decoder.layers.2.norm2.weight',\n",
" 'model.transformer.decoder.layers.2.norm2.bias',\n",
" 'model.transformer.decoder.layers.2.norm3.weight',\n",
" 'model.transformer.decoder.layers.2.norm3.bias',\n",
" 'model.transformer.decoder.layers.3.self_attn.in_proj_weight',\n",
" 'model.transformer.decoder.layers.3.self_attn.in_proj_bias',\n",
" 'model.transformer.decoder.layers.3.self_attn.out_proj.weight',\n",
" 'model.transformer.decoder.layers.3.self_attn.out_proj.bias',\n",
" 'model.transformer.decoder.layers.3.multihead_attn.in_proj_weight',\n",
" 'model.transformer.decoder.layers.3.multihead_attn.in_proj_bias',\n",
" 'model.transformer.decoder.layers.3.multihead_attn.out_proj.weight',\n",
" 'model.transformer.decoder.layers.3.multihead_attn.out_proj.bias',\n",
" 'model.transformer.decoder.layers.3.linear1.weight',\n",
" 'model.transformer.decoder.layers.3.linear1.bias',\n",
" 'model.transformer.decoder.layers.3.linear2.weight',\n",
" 'model.transformer.decoder.layers.3.linear2.bias',\n",
" 'model.transformer.decoder.layers.3.norm1.weight',\n",
" 'model.transformer.decoder.layers.3.norm1.bias',\n",
" 'model.transformer.decoder.layers.3.norm2.weight',\n",
" 'model.transformer.decoder.layers.3.norm2.bias',\n",
" 'model.transformer.decoder.layers.3.norm3.weight',\n",
" 'model.transformer.decoder.layers.3.norm3.bias',\n",
" 'model.transformer.decoder.layers.4.self_attn.in_proj_weight',\n",
" 'model.transformer.decoder.layers.4.self_attn.in_proj_bias',\n",
" 'model.transformer.decoder.layers.4.self_attn.out_proj.weight',\n",
" 'model.transformer.decoder.layers.4.self_attn.out_proj.bias',\n",
" 'model.transformer.decoder.layers.4.multihead_attn.in_proj_weight',\n",
" 'model.transformer.decoder.layers.4.multihead_attn.in_proj_bias',\n",
" 'model.transformer.decoder.layers.4.multihead_attn.out_proj.weight',\n",
" 'model.transformer.decoder.layers.4.multihead_attn.out_proj.bias',\n",
" 'model.transformer.decoder.layers.4.linear1.weight',\n",
" 'model.transformer.decoder.layers.4.linear1.bias',\n",
" 'model.transformer.decoder.layers.4.linear2.weight',\n",
" 'model.transformer.decoder.layers.4.linear2.bias',\n",
" 'model.transformer.decoder.layers.4.norm1.weight',\n",
" 'model.transformer.decoder.layers.4.norm1.bias',\n",
" 'model.transformer.decoder.layers.4.norm2.weight',\n",
" 'model.transformer.decoder.layers.4.norm2.bias',\n",
" 'model.transformer.decoder.layers.4.norm3.weight',\n",
" 'model.transformer.decoder.layers.4.norm3.bias',\n",
" 'model.transformer.decoder.layers.5.self_attn.in_proj_weight',\n",
" 'model.transformer.decoder.layers.5.self_attn.in_proj_bias',\n",
" 'model.transformer.decoder.layers.5.self_attn.out_proj.weight',\n",
" 'model.transformer.decoder.layers.5.self_attn.out_proj.bias',\n",
" 'model.transformer.decoder.layers.5.multihead_attn.in_proj_weight',\n",
" 'model.transformer.decoder.layers.5.multihead_attn.in_proj_bias',\n",
" 'model.transformer.decoder.layers.5.multihead_attn.out_proj.weight',\n",
" 'model.transformer.decoder.layers.5.multihead_attn.out_proj.bias',\n",
" 'model.transformer.decoder.layers.5.linear1.weight',\n",
" 'model.transformer.decoder.layers.5.linear1.bias',\n",
" 'model.transformer.decoder.layers.5.linear2.weight',\n",
" 'model.transformer.decoder.layers.5.linear2.bias',\n",
" 'model.transformer.decoder.layers.5.norm1.weight',\n",
" 'model.transformer.decoder.layers.5.norm1.bias',\n",
" 'model.transformer.decoder.layers.5.norm2.weight',\n",
" 'model.transformer.decoder.layers.5.norm2.bias',\n",
" 'model.transformer.decoder.layers.5.norm3.weight',\n",
" 'model.transformer.decoder.layers.5.norm3.bias',\n",
" 'model.transformer.decoder.layers.6.self_attn.in_proj_weight',\n",
" 'model.transformer.decoder.layers.6.self_attn.in_proj_bias',\n",
" 'model.transformer.decoder.layers.6.self_attn.out_proj.weight',\n",
" 'model.transformer.decoder.layers.6.self_attn.out_proj.bias',\n",
" 'model.transformer.decoder.layers.6.multihead_attn.in_proj_weight',\n",
" 'model.transformer.decoder.layers.6.multihead_attn.in_proj_bias',\n",
" 'model.transformer.decoder.layers.6.multihead_attn.out_proj.weight',\n",
" 'model.transformer.decoder.layers.6.multihead_attn.out_proj.bias',\n",
" 'model.transformer.decoder.layers.6.linear1.weight',\n",
" 'model.transformer.decoder.layers.6.linear1.bias',\n",
" 'model.transformer.decoder.layers.6.linear2.weight',\n",
" 'model.transformer.decoder.layers.6.linear2.bias',\n",
" 'model.transformer.decoder.layers.6.norm1.weight',\n",
" 'model.transformer.decoder.layers.6.norm1.bias',\n",
" 'model.transformer.decoder.layers.6.norm2.weight',\n",
" 'model.transformer.decoder.layers.6.norm2.bias',\n",
" 'model.transformer.decoder.layers.6.norm3.weight',\n",
" 'model.transformer.decoder.layers.6.norm3.bias',\n",
" 'model.transformer.decoder.norm.weight',\n",
" 'model.transformer.decoder.norm.bias',\n",
" 'model.encoder.layers.0.self_attn.in_proj_weight',\n",
" 'model.encoder.layers.0.self_attn.in_proj_bias',\n",
" 'model.encoder.layers.0.self_attn.out_proj.weight',\n",
" 'model.encoder.layers.0.self_attn.out_proj.bias',\n",
" 'model.encoder.layers.0.linear1.weight',\n",
" 'model.encoder.layers.0.linear1.bias',\n",
" 'model.encoder.layers.0.linear2.weight',\n",
" 'model.encoder.layers.0.linear2.bias',\n",
" 'model.encoder.layers.0.norm1.weight',\n",
" 'model.encoder.layers.0.norm1.bias',\n",
" 'model.encoder.layers.0.norm2.weight',\n",
" 'model.encoder.layers.0.norm2.bias',\n",
" 'model.encoder.layers.1.self_attn.in_proj_weight',\n",
" 'model.encoder.layers.1.self_attn.in_proj_bias',\n",
" 'model.encoder.layers.1.self_attn.out_proj.weight',\n",
" 'model.encoder.layers.1.self_attn.out_proj.bias',\n",
" 'model.encoder.layers.1.linear1.weight',\n",
" 'model.encoder.layers.1.linear1.bias',\n",
" 'model.encoder.layers.1.linear2.weight',\n",
" 'model.encoder.layers.1.linear2.bias',\n",
" 'model.encoder.layers.1.norm1.weight',\n",
" 'model.encoder.layers.1.norm1.bias',\n",
" 'model.encoder.layers.1.norm2.weight',\n",
" 'model.encoder.layers.1.norm2.bias',\n",
" 'model.encoder.layers.2.self_attn.in_proj_weight',\n",
" 'model.encoder.layers.2.self_attn.in_proj_bias',\n",
" 'model.encoder.layers.2.self_attn.out_proj.weight',\n",
" 'model.encoder.layers.2.self_attn.out_proj.bias',\n",
" 'model.encoder.layers.2.linear1.weight',\n",
" 'model.encoder.layers.2.linear1.bias',\n",
" 'model.encoder.layers.2.linear2.weight',\n",
" 'model.encoder.layers.2.linear2.bias',\n",
" 'model.encoder.layers.2.norm1.weight',\n",
" 'model.encoder.layers.2.norm1.bias',\n",
" 'model.encoder.layers.2.norm2.weight',\n",
" 'model.encoder.layers.2.norm2.bias',\n",
" 'model.encoder.layers.3.self_attn.in_proj_weight',\n",
" 'model.encoder.layers.3.self_attn.in_proj_bias',\n",
" 'model.encoder.layers.3.self_attn.out_proj.weight',\n",
" 'model.encoder.layers.3.self_attn.out_proj.bias',\n",
" 'model.encoder.layers.3.linear1.weight',\n",
" 'model.encoder.layers.3.linear1.bias',\n",
" 'model.encoder.layers.3.linear2.weight',\n",
" 'model.encoder.layers.3.linear2.bias',\n",
" 'model.encoder.layers.3.norm1.weight',\n",
" 'model.encoder.layers.3.norm1.bias',\n",
" 'model.encoder.layers.3.norm2.weight',\n",
" 'model.encoder.layers.3.norm2.bias',\n",
" 'model.action_head.weight',\n",
" 'model.action_head.bias',\n",
" 'model.is_pad_head.weight',\n",
" 'model.is_pad_head.bias',\n",
" 'model.query_embed.weight',\n",
" 'model.input_proj.weight',\n",
" 'model.input_proj.bias',\n",
" 'model.backbones.0.0.body.conv1.weight',\n",
" 'model.backbones.0.0.body.bn1.weight',\n",
" 'model.backbones.0.0.body.bn1.bias',\n",
" 'model.backbones.0.0.body.bn1.running_mean',\n",
" 'model.backbones.0.0.body.bn1.running_var',\n",
" 'model.backbones.0.0.body.bn1.num_batches_tracked',\n",
" 'model.backbones.0.0.body.layer1.0.conv1.weight',\n",
" 'model.backbones.0.0.body.layer1.0.bn1.weight',\n",
" 'model.backbones.0.0.body.layer1.0.bn1.bias',\n",
" 'model.backbones.0.0.body.layer1.0.bn1.running_mean',\n",
" 'model.backbones.0.0.body.layer1.0.bn1.running_var',\n",
" 'model.backbones.0.0.body.layer1.0.bn1.num_batches_tracked',\n",
" 'model.backbones.0.0.body.layer1.0.conv2.weight',\n",
" 'model.backbones.0.0.body.layer1.0.bn2.weight',\n",
" 'model.backbones.0.0.body.layer1.0.bn2.bias',\n",
" '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": 45,
"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.transformer.decoder.norm.',\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.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": 46,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"OrderedDict()"
]
},
"execution_count": 46,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"a"
]
},
{
"cell_type": "code",
"execution_count": 47,
"metadata": {},
"outputs": [],
"source": [
"for k, v in conv.items():\n",
" assert b[k].shape == v.shape\n",
" b[k] = v"
]
},
{
"cell_type": "code",
"execution_count": 53,
"metadata": {},
"outputs": [],
"source": [
"save_file(b, converted_ckpt_path)"
]
},
{
"cell_type": "code",
"execution_count": 54,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"'/home/thomwolf/Documents/Github/ACT/checkpoints/blue_red_sort/config.yaml'"
]
},
"execution_count": 54,
"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": null,
"metadata": {},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": "lerobot",
"language": "python",
"name": "python3"
},
"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,
"nbformat_minor": 2
}