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Browse files- config.json +85 -0
- model.safetensors +3 -0
- training_info.json +6 -0
config.json
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{
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"type": "act",
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"n_obs_steps": 1,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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},
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"input_features": {
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"observation.state": {
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"type": "STATE",
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"shape": [
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14
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]
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},
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"observation.effort": {
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"type": "STATE",
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"shape": [
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14
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]
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},
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"observation.images.cam_high": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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"observation.images.cam_left_wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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]
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},
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"observation.images.cam_right_wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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640
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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14
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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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"push_to_hub": true,
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"repo_id": null,
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"private": null,
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"tags": null,
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"license": null,
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"chunk_size": 128,
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"n_action_steps": 64,
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"vision_backbone": "resnet18",
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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"replace_final_stride_with_dilation": false,
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"use_siglip": false,
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"siglip_model_name": "google/siglip-base-patch16-224",
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"pre_norm": false,
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"dim_model": 512,
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"n_heads": 8,
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"dim_feedforward": 3200,
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"feedforward_activation": "relu",
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"n_encoder_layers": 4,
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"n_decoder_layers": 1,
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"use_vae": true,
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"latent_dim": 32,
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"n_vae_encoder_layers": 4,
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"temporal_ensemble_coeff": null,
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"dropout": 0.1,
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"kl_weight": 10.0,
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"optimizer_lr": 1e-05,
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"optimizer_weight_decay": 0.0001,
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"optimizer_lr_backbone": 1e-05
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}
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model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:8bc36472d7714679ee6929deeae414a4625903a906f8e87bc3ff370c91035441
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size 206882184
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training_info.json
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{
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"step": 17107,
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"loss": 0.05445399880409241,
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"policy_type": "act",
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"is_best": true
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}
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