Upload policy_config.yaml

policy_config.yaml

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+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