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suction_act_full

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suction_act_full
File size: 3,486 Bytes
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{
    "type": "act_romoya",
    "n_obs_steps": 1,
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                8
            ]
        },
        "observation.images.wrist": {
            "type": "VISUAL",
            "shape": [
                3,
                360,
                640
            ]
        },
        "observation.images.top": {
            "type": "VISUAL",
            "shape": [
                3,
                360,
                640
            ]
        },
        "observation.images.side": {
            "type": "VISUAL",
            "shape": [
                3,
                360,
                640
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                8
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": true,
    "repo_id": "PL2011/act_sjadj_lebai-suction-plate",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "chunk_size": 60,
    "n_action_steps": 60,
    "normalization_mapping": {
        "VISUAL": "MEAN_STD",
        "STATE": "MEAN_STD",
        "ACTION": "MEAN_STD"
    },
    "vision_backbone": "resnet18",
    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
    "replace_final_stride_with_dilation": false,
    "pre_norm": false,
    "dim_model": 512,
    "n_heads": 8,
    "dim_feedforward": 3200,
    "feedforward_activation": "relu",
    "n_encoder_layers": 4,
    "n_decoder_layers": 1,
    "use_vae": true,
    "latent_dim": 32,
    "n_vae_encoder_layers": 4,
    "temporal_ensemble_coeff": null,
    "dropout": 0.1,
    "kl_weight": 10.0,
    "optimizer_lr": 1e-05,
    "optimizer_weight_decay": 0.0001,
    "optimizer_lr_backbone": 1e-05,
    "state_feature_names_to_keep": [
        "joint1.pos",
        "joint2.pos",
        "joint3.pos",
        "joint4.pos",
        "joint5.pos",
        "joint6.pos",
        "gripper.pos",
        "DO_1"
    ],
    "action_mode": "delta_joint_gripper_do1",
    "joint_action_names": [
        "joint1.pos",
        "joint2.pos",
        "joint3.pos",
        "joint4.pos",
        "joint5.pos",
        "joint6.pos"
    ],
    "gripper_action_name": "gripper.pos",
    "do_action_names": [
        "DO_1"
    ],
    "raw_observation_state_feature_names": [
        "joint1.pos",
        "joint2.pos",
        "joint3.pos",
        "joint4.pos",
        "joint5.pos",
        "joint6.pos",
        "gripper.pos",
        "gripper.force",
        "DO_0",
        "DO_1",
        "joint1.effort",
        "joint2.effort",
        "joint3.effort",
        "joint4.effort",
        "joint5.effort",
        "joint6.effort",
        "joint1.vel",
        "joint2.vel",
        "joint3.vel",
        "joint4.vel",
        "joint5.vel",
        "joint6.vel",
        "joint1.acc",
        "joint2.acc",
        "joint3.acc",
        "joint4.acc",
        "joint5.acc",
        "joint6.acc",
        "tcp.x",
        "tcp.y",
        "tcp.z",
        "tcp.rx",
        "tcp.ry",
        "tcp.rz"
    ],
    "raw_action_feature_names": [
        "joint1.pos",
        "joint2.pos",
        "joint3.pos",
        "joint4.pos",
        "joint5.pos",
        "joint6.pos",
        "gripper.pos",
        "gripper.force",
        "DO_0",
        "DO_1"
    ],
    "do_threshold": 0.5,
    "sigmoid_do_outputs": true
}