flux_sample / config.json
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{
"type": "flux3",
"n_obs_steps": 1,
"input_features": {
"observation.images.scene": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.images.wrist": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.state": {
"type": "STATE",
"shape": [
6
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
6
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": true,
"push_to_hub": false,
"repo_id": null,
"private": null,
"tags": null,
"license": null,
"pretrained_path": "/fsx/caroline_pascal/models/so101",
"pretrained_revision": null,
"conditioning": "history",
"packer": null,
"condition_on_past_actions": false,
"action_representation": "delta",
"delta_absolute_dims": [
-1
],
"text_fixed_length": 320,
"video_position_fps": 24.0,
"history_snapshots": 1,
"normalization_stats": null,
"normalization_clip": 6.0,
"separate_timesteps": true,
"video_logit_mean": 1.08,
"video_logit_std": 1.0,
"conditioning_noise_max": 0.2,
"loss_reduction": "modalities",
"action_channel_weights": [
1.0,
1.0,
1.0,
1.0,
1.0,
2.0
],
"gradient_checkpointing": true,
"chunk_size": 32,
"n_action_steps": 30,
"fps": 30.0,
"camera_layout": "side_by_side",
"camera_keys": [
"observation.images.scene",
"observation.images.wrist"
],
"canvas_hw": [
256,
512
],
"action_modality": "action",
"action_scale": 2.0,
"gripper_flip_dims": [],
"use_relative_actions": false,
"relative_exclude_joints": [
"gripper"
],
"action_feature_names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "IDENTITY",
"ACTION": "IDENTITY"
},
"trunk_weights": null,
"video_vae_id": "/fsx/caroline_pascal/models/so101/components/video_vae.safetensors",
"text_encoder_id": "/fsx/caroline_pascal/models/so101/components/text_encoder",
"dit_config": null,
"content_streams": [
"video",
"video_cond"
],
"attn_mode": "torch",
"dtype": "bfloat16",
"compile_model": false,
"sampler": "cosmos_unipc",
"num_inference_steps": 4,
"guidance_scale": 3.0,
"guidance_scale_action": null,
"sampler_shift": 5.0,
"inference_seed": 0,
"head_init_seed": 0,
"train_timestep_width": 0.75,
"train_timestep_shift": 42.0,
"action_loss_weight": 0.5,
"video_loss_weight": 1.0,
"caption_dropout": 0.1,
"augment": false,
"optimizer_lr": 0.0001,
"optimizer_lr_heads_multiplier": 5.0,
"optimizer_betas": [
0.9,
0.999
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 0.0,
"optimizer_grad_clip_norm": 1.0,
"scheduler_freeze_backbone_steps": 0,
"scheduler_warmup_steps": 0,
"scheduler_warmup_steps_heads": 0,
"scheduler_decay_steps": 0,
"scheduler_cooldown_steps": 0
}