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Dicomsky
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value_human_inloop_grasp

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value_human_inloop_grasp
File size: 2,131 Bytes
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{
    "type": "pistar06",
    "n_obs_steps": 1,
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                6
            ]
        },
        "observation.images.top": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        },
        "observation.images.wrist": {
            "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": "Dicomsky/value_human_inloop_grasp",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "vision_repo_id": "google/siglip-so400m-patch14-384",
    "language_repo_id": "google/gemma-3-270m",
    "vision_revision": null,
    "language_revision": null,
    "task_field": "task",
    "camera_features": [],
    "state_feature": "observation.state",
    "include_state_in_prompt": true,
    "max_state_dim": 32,
    "state_discretization_bins": 256,
    "target_key": "observation.value_target",
    "loss_weight_key": "observation.value_loss_weight",
    "task_index_feature": "task_index",
    "tokenizer_max_length": 200,
    "state_proj_dim": 512,
    "fusion_hidden_dim": 512,
    "fusion_num_layers": 2,
    "fusion_num_heads": 8,
    "num_bins": 201,
    "bin_min": -1.0,
    "bin_max": 0.0,
    "dropout": 0.1,
    "dtype": "bfloat16",
    "freeze_vision_encoder": true,
    "freeze_language_model": true,
    "use_gradient_checkpointing": false,
    "optimizer_lr": 5e-05,
    "optimizer_weight_decay": 1e-05,
    "optimizer_grad_clip_norm": 10.0,
    "scheduler_warmup_steps": 500,
    "scheduler_decay_steps": 8000,
    "scheduler_decay_lr": 1e-06,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "QUANTILES",
        "ACTION": "IDENTITY"
    }
}