| { |
| "type": "transformer_diffusion", |
| "n_obs_steps": 4, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 7 |
| ] |
| }, |
| "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, |
| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "horizon": 16, |
| "n_action_steps": 8, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| }, |
| "vision_backbone": "vit_b_16", |
| "input_image_size": [ |
| 224, |
| 224 |
| ], |
| "num_cameras": 3, |
| "vision_freeze_layers": 0, |
| "state_dim": 7, |
| "action_dim": 7, |
| "d_model": 512, |
| "nhead": 8, |
| "num_encoder_layers": 4, |
| "num_decoder_layers": 6, |
| "dim_feedforward": 512, |
| "diffusion_step_embed_dim": 256, |
| "kernel_size": 3, |
| "n_groups": 8, |
| "num_inference_steps": 50, |
| "optimizer_lr": 0.0001, |
| "optimizer_betas": [ |
| 0.95, |
| 0.999 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 1e-06, |
| "scheduler_name": "cosine", |
| "scheduler_warmup_steps": 500 |
| } |
