fm32 / config.json
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{
"type": "transformer_flow_matching",
"n_obs_steps": 2,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
7
]
},
"observation.box": {
"type": "STATE",
"shape": [
6,
6
]
},
"observation.images.gripper": {
"type": "VISUAL",
"shape": [
3,
400,
640
]
},
"observation.images.front": {
"type": "VISUAL",
"shape": [
3,
400,
640
]
},
"observation.images.right": {
"type": "VISUAL",
"shape": [
3,
400,
640
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
7
]
}
},
"device": "cuda",
"use_amp": false,
"push_to_hub": true,
"repo_id": null,
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"horizon": 32,
"n_action_steps": 32,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"vision_input_size": 384,
"num_cameras": 3,
"num_vlm_layers": 16,
"detection_classes": [
"cube",
"container"
],
"detection_conf": 0.1,
"cameras_for_vision_state_concat": [
"observation.images.front",
"observation.images.gripper",
"observation.images.right"
],
"state_dim": 7,
"action_dim": 7,
"d_model": 512,
"nhead": 8,
"num_decoder_layers": 16,
"dim_feedforward": 2048,
"num_inference_steps": 10,
"noise_temporal_correlation": 0.0,
"action_dim_weights": [
1.0,
1.0,
1.0,
0.0,
1.0,
1.0,
1.0
],
"pos_decay_lambda": 0.0,
"future_steps_weight": 0.3,
"optimizer_lr": 8.466233902781544e-06,
"optimizer_betas": [
0.95,
0.999
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 1e-06,
"scheduler_warmup_steps": 1500,
"robot_encoder_tokens": 16,
"robot_encoder_input_size": 224,
"lora_rank": 16,
"lora_alpha": 32,
"lora_dropout": 0.05,
"lora_target_modules": [
"q_proj",
"v_proj"
],
"vision_lora_num_layers": 8,
"training_step": 101000,
"training_epoch": 352,
"current_lr": 8.466233902781544e-06,
"training_steps_total": 200000
}