| type: act | |
| n_obs_steps: 1 | |
| n_action_steps: 100 | |
| chunk_size: 100 | |
| input_features: | |
| observation.state: | |
| type: STATE | |
| shape: [6] | |
| observation.images.front: | |
| type: VISUAL | |
| shape: [3, 480, 640] | |
| observation.images.top: | |
| type: VISUAL | |
| shape: [3, 480, 640] | |
| output_features: | |
| action: | |
| type: ACTION | |
| shape: [6] | |
| normalization_mapping: | |
| VISUAL: MEAN_STD | |
| STATE: MEAN_STD | |
| ACTION: MEAN_STD | |
| vision_backbone: resnet18 | |
| pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1 | |
| replace_final_stride_with_dilation: false | |
| pre_norm: false | |
| dim_model: 512 | |
| n_heads: 8 | |
| dim_feedforward: 3200 | |
| feedforward_activation: relu | |
| n_encoder_layers: 4 | |
| n_decoder_layers: 1 | |
| use_vae: true | |
| latent_dim: 32 | |
| n_vae_encoder_layers: 4 | |
| kl_weight: 10.0 | |
| dropout: 0.1 | |
| use_amp: false | |
| use_peft: false | |
| optimizer_lr: 1e-5 | |
| optimizer_weight_decay: 0.0001 | |
| optimizer_lr_backbone: 1e-5 | |
| device: cuda | |
| push_to_hub: true | |
| repo_id: Ayara31/shape_sorter0 | |
| private: null | |
| tags: null | |
| license: null | |
| pretrained_path: null | |