Upload policy
Browse files- config.json +68 -0
- model.safetensors +3 -0
config.json
ADDED
|
@@ -0,0 +1,68 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"type": "poc_chunk",
|
| 3 |
+
"n_obs_steps": 10,
|
| 4 |
+
"input_features": {
|
| 5 |
+
"observation.image": {
|
| 6 |
+
"type": "VISUAL",
|
| 7 |
+
"shape": [
|
| 8 |
+
3,
|
| 9 |
+
256,
|
| 10 |
+
256
|
| 11 |
+
]
|
| 12 |
+
},
|
| 13 |
+
"observation.wrist_image": {
|
| 14 |
+
"type": "VISUAL",
|
| 15 |
+
"shape": [
|
| 16 |
+
3,
|
| 17 |
+
256,
|
| 18 |
+
256
|
| 19 |
+
]
|
| 20 |
+
},
|
| 21 |
+
"observation.state": {
|
| 22 |
+
"type": "STATE",
|
| 23 |
+
"shape": [
|
| 24 |
+
13
|
| 25 |
+
]
|
| 26 |
+
}
|
| 27 |
+
},
|
| 28 |
+
"output_features": {
|
| 29 |
+
"action": {
|
| 30 |
+
"type": "ACTION",
|
| 31 |
+
"shape": [
|
| 32 |
+
8
|
| 33 |
+
]
|
| 34 |
+
}
|
| 35 |
+
},
|
| 36 |
+
"device": "cuda",
|
| 37 |
+
"use_amp": false,
|
| 38 |
+
"use_peft": false,
|
| 39 |
+
"push_to_hub": false,
|
| 40 |
+
"repo_id": null,
|
| 41 |
+
"private": null,
|
| 42 |
+
"tags": null,
|
| 43 |
+
"license": null,
|
| 44 |
+
"pretrained_path": null,
|
| 45 |
+
"add_past_actions": true,
|
| 46 |
+
"see_past_action_only": false,
|
| 47 |
+
"noise_injection": false,
|
| 48 |
+
"noise_std": 0.01,
|
| 49 |
+
"chunk_size": 10,
|
| 50 |
+
"n_action_steps": 10,
|
| 51 |
+
"image_feature_dim": 768,
|
| 52 |
+
"normalization_mapping": {
|
| 53 |
+
"STATE": "MEAN_STD",
|
| 54 |
+
"ACTION": "MEAN_STD"
|
| 55 |
+
},
|
| 56 |
+
"nheads": 6,
|
| 57 |
+
"dim_forward": 512,
|
| 58 |
+
"num_layers": 8,
|
| 59 |
+
"activation": "gelu",
|
| 60 |
+
"max_seq_len": 512,
|
| 61 |
+
"use_token_type_embedding": true,
|
| 62 |
+
"freeze_image_encoder": false,
|
| 63 |
+
"optimizer_lr": 1e-05,
|
| 64 |
+
"optimizer_weight_decay": 1e-06,
|
| 65 |
+
"lr_warmup_steps": 500,
|
| 66 |
+
"total_training_steps": 500000,
|
| 67 |
+
"use_policy_training_preset": true
|
| 68 |
+
}
|
model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:763dd17c7dfbc2b21eabe8280d5e6ed9b454754c22a5d4d7fbfda1a52f01137d
|
| 3 |
+
size 453703392
|