amp-tadpole-lerobot / config.json
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AMP Tadpole v0.2.0 for LeRobot (lerobot-policy-tadpole)
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{
"type": "tadpole",
"n_obs_steps": 1,
"input_features": {
"observation.images.top": {
"type": "VISUAL",
"shape": [
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]
},
"observation.images.side": {
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]
},
"observation.images.iso": {
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]
},
"observation.state": {
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"shape": [
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]
}
},
"output_features": {
"action": {
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"shape": [
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]
}
},
"device": "cpu",
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": null,
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"pretrained_revision": null,
"chunk_size": 8,
"n_action_steps": 8,
"normalization_mapping": {
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"STATE": "IDENTITY",
"ACTION": "IDENTITY"
},
"image_size": 512,
"dim": 256,
"layers": 6,
"heads": 8,
"grid": 16,
"redraw_patch": 8,
"tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
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"joint_limits": [
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"state_dropout": 0.5,
"redraw_weight": 1.0,
"optimizer_lr": 0.0003,
"optimizer_weight_decay": 1e-10,
"optimizer_betas": [
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]
}