Robotics
LeRobot
Safetensors
act_baseline
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{
"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
}