File size: 623 Bytes
c1ebdfc 434b56b c1ebdfc 41e34ee c1ebdfc 41e34ee c1ebdfc | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 | {
"model": "amp-tadpole",
"version": "0.2.1",
"parameters": 6507335,
"inputs": {
"images": "uint8 (3, 3, 512, 512): top, side, iso",
"state": "(7,): 6 joint angles (rad) + gripper (0 open .. 1 closed)",
"clause": "one canonical instruction clause"
},
"output": "(8, 7): the next 8 joint states + gripper",
"training": {
"steps": 330000,
"batch_size": 64,
"learning_rate": 0.0003,
"state_dropout": 0.5,
"seeds": "from 0 (scenes from 9,000,000 up never used)",
"progress_reward": 0.0,
"path_weight": 0.0,
"success_on_100_held_out_scenes_during_training": 0.893
}
}
|