| { |
| "type": "poc_chunk", |
| "n_obs_steps": 10, |
| "input_features": { |
| "observation.image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.wrist_image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 13 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 8 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": false, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "add_past_actions": true, |
| "see_past_action_only": false, |
| "noise_injection": false, |
| "noise_std": 0.01, |
| "chunk_size": 25, |
| "n_action_steps": 25, |
| "image_feature_dim": 768, |
| "normalization_mapping": { |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| }, |
| "nheads": 6, |
| "dim_forward": 512, |
| "num_layers": 8, |
| "activation": "gelu", |
| "max_seq_len": 512, |
| "use_token_type_embedding": true, |
| "freeze_image_encoder": false, |
| "optimizer_lr": 1e-05, |
| "optimizer_weight_decay": 1e-06, |
| "lr_warmup_steps": 500, |
| "total_training_steps": 500000, |
| "use_policy_training_preset": true |
| } |
