Instructions to use IXDLI/act_baseline_pnp_long_100k with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use IXDLI/act_baseline_pnp_long_100k with LeRobot:
- Notebooks
- Google Colab
- Kaggle
| { | |
| "type": "act_baseline", | |
| "n_obs_steps": 2, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.images.camera_0": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.camera_1": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": true, | |
| "repo_id": "IXDLI/act_baseline_pnp_long_100k", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "horizon": 16, | |
| "n_action_steps": 8, | |
| "normalization_mapping": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MIN_MAX", | |
| "ACTION": "MIN_MAX" | |
| }, | |
| "vision_backbone": "resnet18", | |
| "resize_shape": null, | |
| "crop_shape": [ | |
| 84, | |
| 84 | |
| ], | |
| "crop_is_random": true, | |
| "pretrained_backbone_weights": null, | |
| "use_group_norm": true, | |
| "spatial_softmax_num_keypoints": 32, | |
| "use_separate_rgb_encoder_per_camera": false, | |
| "hidden_dim": 512, | |
| "num_encoder_layers": 4, | |
| "num_decoder_layers": 1, | |
| "n_heads": 8, | |
| "dim_feedforward": 3200, | |
| "dropout": 0.1, | |
| "feedforward_activation": "relu", | |
| "pre_norm": false, | |
| "loss_type": "l1", | |
| "do_mask_loss_for_padding": true, | |
| "optimizer_lr": 1e-05, | |
| "optimizer_weight_decay": 0.0001, | |
| "optimizer_lr_backbone": 1e-05 | |
| } |