| { | |
| "type": "omy_baseline", | |
| "n_obs_steps": 1, | |
| "normalization_mapping": { | |
| "STATE": "MEAN_STD", | |
| "ENVIRONMENT_STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.environment_state": { | |
| "type": "ENV", | |
| "shape": [ | |
| 27 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "chunk_size": 10, | |
| "n_action_steps": 10, | |
| "backbone": "mlp", | |
| "vision_backbone": "facebook/dinov3-vitb16-pretrain-lvd1689m", | |
| "projection_dim": 128, | |
| "freeze_backbone": true, | |
| "n_hidden_layers": 10, | |
| "hidden_dim": 512, | |
| "n_heads": 4, | |
| "dim_feedforward": 2048, | |
| "feedforward_activation": "gelu", | |
| "dropout": 0.1, | |
| "pre_norm": true, | |
| "n_encoder_layers": 6, | |
| "optimizer_lr": 0.0005, | |
| "optimizer_weight_decay": 1e-06, | |
| "lr_warmup_steps": 1000, | |
| "total_training_steps": 500000, | |
| "use_policy_training_preset": true | |
| } |