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omx_act_policy

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  1. config.json +86 -66
config.json CHANGED
@@ -1,71 +1,91 @@
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  {
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- "type": "act",
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- "n_obs_steps": 1,
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- "input_features": {
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- "observation.state": {
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- "type": "STATE",
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- "shape": [
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- },
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- "observation.images.front": {
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- "type": "VISUAL",
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- ]
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- },
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- "observation.images.wrist": {
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- "type": "VISUAL",
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- "shape": [
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- 3,
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- 480,
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- 640
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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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- 6
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- ]
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- }
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  },
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- "device": "cuda",
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- "use_amp": false,
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- "use_peft": false,
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- "chunk_size": 100,
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- "n_action_steps": 100,
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- "normalization_mapping": {
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- "VISUAL": "MEAN_STD",
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- "STATE": "MEAN_STD",
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- "ACTION": "MEAN_STD"
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  },
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- "vision_backbone": "resnet18",
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- "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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- "replace_final_stride_with_dilation": false,
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- "pre_norm": false,
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- "dim_model": 512,
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- "n_heads": 8,
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- "dim_feedforward": 3200,
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- "feedforward_activation": "relu",
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- "n_encoder_layers": 4,
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- "n_decoder_layers": 1,
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- "use_vae": true,
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- "latent_dim": 32,
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- "n_vae_encoder_layers": 4,
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- "temporal_ensemble_coeff": null,
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- "dropout": 0.1,
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- "kl_weight": 10.0,
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- "optimizer_lr": 1e-05,
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- "optimizer_weight_decay": 0.0001,
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- "optimizer_lr_backbone": 1e-05
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
71
  }
 
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  {
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+ "type": "act",
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+ "n_obs_steps": 1,
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+ "input_features": {
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+ "observation.state": {
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+ "type": "STATE",
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+ "shape": [
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+ 6
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+ ]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  },
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+ "observation.images.front": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 3,
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+ 480,
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+ 640
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+ ]
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  },
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+ "observation.images.wrist": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 3,
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+ 480,
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+ 640
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+ ]
 
 
 
 
 
 
 
 
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  },
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+ "observation.front": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 3,
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+ 480,
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+ 640
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+ },
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+ "observation.wrist": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 480,
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+ 640
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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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+ 6
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+ ]
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+ }
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+ },
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+ "device": "cuda",
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+ "use_amp": false,
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+ "chunk_size": 100,
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+ "normalization_mapping": {
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+ "VISUAL": "MEAN_STD",
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+ "STATE": "MEAN_STD",
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+ "ACTION": "MEAN_STD"
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+ },
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+ "vision_backbone": "resnet18",
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+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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+ "replace_final_stride_with_dilation": false,
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+ "dropout": 0.1,
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+ "optimizer_lr": 1e-05,
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+ "optimizer_weight_decay": 0.0001,
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+ "optimizer_lr_backbone": 1e-05,
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+ "image_features": [
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+ "observation.front",
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+ "observation.wrist"
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+ ]
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  }