| { | |
| "type": "lavla", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "observation.images.camera1": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.camera2": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.camera3": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 6 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": true, | |
| "repo_id": "Alkatt/LAVLA_S1_integ_test", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "normalization_mapping": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "n_action_steps": 50, | |
| "chunk_size": 50, | |
| "max_action_dim": 32, | |
| "s1_image_resolution": [ | |
| 256, | |
| 256 | |
| ], | |
| "s1_mlp_dim": 512, | |
| "s1_embedding_dim": 512, | |
| "s1_num_attention_heads": 4, | |
| "s1_num_layers": 6, | |
| "s1_flow_integration_steps": 10, | |
| "s1_mobile_vit_model": "apple/mobilevit-small", | |
| "s2_embedding_dim": 1024, | |
| "optimizer_lr": 1e-05, | |
| "optimizer_weight_decay": 0.0001 | |
| } |