| { | |
| "n_obs_steps": 1, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "input_features": { | |
| "observation.images.image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.wrist_image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 8 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "device": "cpu", | |
| "use_amp": false, | |
| "type": "hume", | |
| "s1_chunk_size": 8, | |
| "s2_chunk_size": 16, | |
| "n_action_steps": 16, | |
| "max_state_dim": 32, | |
| "max_action_dim": 32, | |
| "resize_imgs_with_padding": [ | |
| 224, | |
| 224 | |
| ], | |
| "empty_cameras": 0, | |
| "adapt_to_pi_aloha": false, | |
| "use_delta_joint_actions_aloha": false, | |
| "tokenizer_max_length": 48, | |
| "proj_width": 1024, | |
| "num_steps": 10, | |
| "use_cache": true, | |
| "attention_implementation": "eager", | |
| "freeze_vision_encoder": true, | |
| "train_expert_only": false, | |
| "train_state_proj": true, | |
| "optimizer_lr": 5e-05, | |
| "optimizer_betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 1e-10, | |
| "scheduler_warmup_steps": 1000, | |
| "scheduler_decay_steps": 1600000, | |
| "scheduler_decay_lr": 2.5e-06, | |
| "freeze_s2": true, | |
| "s1_his_state_size": 4, | |
| "cache_s2_actions": false, | |
| "theta2": 1.0, | |
| "theta1": 1.0, | |
| "noise_slides_eps": 0.0, | |
| "noise_slides_alp": 0.0, | |
| "s1_proj_width": 512, | |
| "freeze_s1_vision_encoder": false, | |
| "s1_num_steps": 10, | |
| "num_pos": 3, | |
| "discount": 0.98, | |
| "actor_lr": 1e-05, | |
| "critic_lr": 1e-05, | |
| "temp_lr": 2e-05, | |
| "qf_lr": 0.0003, | |
| "next_obs_offset": 1, | |
| "vqh_chunk_size": 1, | |
| "paligemma_config": { | |
| "bos_token_id": 2, | |
| "eos_token_id": 1, | |
| "hidden_size": 2048, | |
| "ignore_index": -100, | |
| "image_token_index": 257152, | |
| "model_type": "paligemma", | |
| "pad_token_id": 0, | |
| "projection_dim": 2048, | |
| "text_config": { | |
| "hidden_activation": "gelu_pytorch_tanh", | |
| "hidden_size": 2048, | |
| "intermediate_size": 16384, | |
| "model_type": "gemma", | |
| "num_attention_heads": 8, | |
| "num_hidden_layers": 18, | |
| "num_image_tokens": 256, | |
| "num_key_value_heads": 1, | |
| "torch_dtype": "float32", | |
| "vocab_size": 257152 | |
| }, | |
| "torch_dtype": "float32", | |
| "transformers_version": "4.48.1", | |
| "vision_config": { | |
| "hidden_size": 1152, | |
| "intermediate_size": 4304, | |
| "model_type": "siglip_vision_model", | |
| "num_attention_heads": 16, | |
| "num_hidden_layers": 27, | |
| "num_image_tokens": 256, | |
| "patch_size": 14, | |
| "projection_dim": 2048, | |
| "projector_hidden_act": "gelu_fast", | |
| "vision_use_head": false | |
| }, | |
| "vocab_size": 257152 | |
| }, | |
| "gemma_expert_config": { | |
| "attention_bias": false, | |
| "attention_dropout": 0.0, | |
| "bos_token_id": 2, | |
| "eos_token_id": 1, | |
| "head_dim": 256, | |
| "hidden_act": "gelu_pytorch_tanh", | |
| "hidden_activation": "gelu_pytorch_tanh", | |
| "hidden_size": 1024, | |
| "initializer_range": 0.02, | |
| "intermediate_size": 4096, | |
| "max_position_embeddings": 8192, | |
| "model_type": "gemma", | |
| "num_attention_heads": 8, | |
| "num_hidden_layers": 18, | |
| "num_key_value_heads": 1, | |
| "pad_token_id": 0, | |
| "rms_norm_eps": 1e-06, | |
| "rope_theta": 10000.0, | |
| "torch_dtype": "float32", | |
| "transformers_version": "4.48.1", | |
| "use_cache": true, | |
| "vocab_size": 257152 | |
| }, | |
| "s1_dino_config": { | |
| "return_dict": true, | |
| "output_hidden_states": false, | |
| "output_attentions": false, | |
| "torchscript": false, | |
| "torch_dtype": "float32", | |
| "use_bfloat16": false, | |
| "tf_legacy_loss": false, | |
| "pruned_heads": {}, | |
| "tie_word_embeddings": true, | |
| "chunk_size_feed_forward": 0, | |
| "is_encoder_decoder": false, | |
| "is_decoder": false, | |
| "cross_attention_hidden_size": null, | |
| "add_cross_attention": false, | |
| "tie_encoder_decoder": false, | |
| "max_length": 20, | |
| "min_length": 0, | |
| "do_sample": false, | |
| "early_stopping": false, | |
| "num_beams": 1, | |
| "num_beam_groups": 1, | |
| "diversity_penalty": 0.0, | |
| "temperature": 1.0, | |
| "top_k": 50, | |
| "top_p": 1.0, | |
| "typical_p": 1.0, | |
| "repetition_penalty": 1.0, | |
| "length_penalty": 1.0, | |
| "no_repeat_ngram_size": 0, | |
| "encoder_no_repeat_ngram_size": 0, | |
| "bad_words_ids": null, | |
| "num_return_sequences": 1, | |
| "output_scores": false, | |
| "return_dict_in_generate": false, | |
| "forced_bos_token_id": null, | |
| "forced_eos_token_id": null, | |
| "remove_invalid_values": false, | |
| "exponential_decay_length_penalty": null, | |
| "suppress_tokens": null, | |
| "begin_suppress_tokens": null, | |
| "architectures": [ | |
| "Dinov2Model" | |
| ], | |
| "finetuning_task": null, | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "label2id": { | |
| "LABEL_0": 0, | |
| "LABEL_1": 1 | |
| }, | |
| "tokenizer_class": null, | |
| "prefix": null, | |
| "bos_token_id": null, | |
| "pad_token_id": null, | |
| "eos_token_id": null, | |
| "sep_token_id": null, | |
| "decoder_start_token_id": null, | |
| "task_specific_params": null, | |
| "problem_type": null, | |
| "_name_or_path": "../pretrained/dinov2-small", | |
| "_attn_implementation_autoset": false, | |
| "transformers_version": "4.52.0.dev0", | |
| "model_type": "dinov2", | |
| "hidden_size": 384, | |
| "num_hidden_layers": 12, | |
| "num_attention_heads": 6, | |
| "mlp_ratio": 4, | |
| "hidden_act": "gelu", | |
| "hidden_dropout_prob": 0.0, | |
| "attention_probs_dropout_prob": 0.0, | |
| "initializer_range": 0.02, | |
| "layer_norm_eps": 1e-06, | |
| "image_size": 518, | |
| "patch_size": 14, | |
| "num_channels": 3, | |
| "qkv_bias": true, | |
| "layerscale_value": 1.0, | |
| "drop_path_rate": 0.0, | |
| "use_swiglu_ffn": false, | |
| "stage_names": [ | |
| "stem", | |
| "stage1", | |
| "stage2", | |
| "stage3", | |
| "stage4", | |
| "stage5", | |
| "stage6", | |
| "stage7", | |
| "stage8", | |
| "stage9", | |
| "stage10", | |
| "stage11", | |
| "stage12" | |
| ], | |
| "apply_layernorm": true, | |
| "reshape_hidden_states": true, | |
| "use_mask_token": true, | |
| "out_features": [ | |
| "stage12" | |
| ], | |
| "out_indices": [ | |
| 12 | |
| ] | |
| }, | |
| "s1_gemma_expert_config": { | |
| "attention_bias": false, | |
| "attention_dropout": 0.0, | |
| "bos_token_id": 2, | |
| "eos_token_id": 1, | |
| "head_dim": 128, | |
| "hidden_act": "gelu_pytorch_tanh", | |
| "hidden_activation": "gelu_pytorch_tanh", | |
| "hidden_size": 512, | |
| "initializer_range": 0.02, | |
| "intermediate_size": 2048, | |
| "max_position_embeddings": 8192, | |
| "model_type": "gemma", | |
| "num_attention_heads": 8, | |
| "num_hidden_layers": 13, | |
| "num_key_value_heads": 1, | |
| "pad_token_id": 0, | |
| "rms_norm_eps": 1e-06, | |
| "rope_theta": 10000.0, | |
| "torch_dtype": "float32", | |
| "transformers_version": "4.48.1", | |
| "use_cache": true, | |
| "vocab_size": 257152 | |
| } | |
| } |