| { |
| "type": "act_romoya", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 8 |
| ] |
| }, |
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| 640 |
| ] |
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| "observation.images.top": { |
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| 640 |
| ] |
| }, |
| "observation.images.side": { |
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| 3, |
| 360, |
| 640 |
| ] |
| } |
| }, |
| "output_features": { |
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| "type": "ACTION", |
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| 8 |
| ] |
| } |
| }, |
| "device": "cuda", |
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| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": "PL2011/act_sjadj_lebai-suction-plate", |
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| "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, |
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| "dim_feedforward": 3200, |
| "feedforward_activation": "relu", |
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| "n_decoder_layers": 1, |
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| "n_vae_encoder_layers": 4, |
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| "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": [ |
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| "joint2.pos", |
| "joint3.pos", |
| "joint4.pos", |
| "joint5.pos", |
| "joint6.pos", |
| "gripper.pos", |
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| "joint4.pos", |
| "joint5.pos", |
| "joint6.pos" |
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| "DO_1" |
| ], |
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| "joint5.acc", |
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| "do_threshold": 0.5, |
| "sigmoid_do_outputs": true |
| } |
