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| "type": "STATE", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "observation.images.top": { | |
| "type": "VISUAL", | |
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| 3, | |
| 240, | |
| 320 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 6 | |
| ] | |
| } | |
| }, | |
| "device": "cuda:0", | |
| "use_amp": false, | |
| "push_to_hub": false, | |
| "repo_id": null, | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "n_action_steps": 8, | |
| "horizon": 16, | |
| "k": 10.0, | |
| "sigma_0": 0.4, | |
| "integration_steps": 4, | |
| "sin_embedding_scale": 100.0, | |
| "velocity_net_type": "unet_dp", | |
| "time_embed_dim": 256, | |
| "expand_dim": 512, | |
| "bottleneck_dim": 128, | |
| "hidden_dim": 512, | |
| "n_layers": 4, | |
| "vision_backbone": "resnet18", | |
| "crop_shape": null, | |
| "crop_is_random": true, | |
| "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", | |
| "use_group_norm": false, | |
| "spatial_softmax_num_keypoints": 32, | |
| "use_separate_rgb_encoder_per_camera": false, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_betas": [ | |
| 0.95, | |
| 0.999 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 1e-06, | |
| "scheduler_name": "cosine", | |
| "scheduler_warmup_steps": 500, | |
| "normalization_mapping": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MIN_MAX", | |
| "ACTION": "MIN_MAX" | |
| } | |
| } |