| { | |
| "type": "text_diffusion", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.images.image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.image2": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 8 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": false, | |
| "repo_id": null, | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "cond_dim": 256, | |
| "vision_feature_dim": 384, | |
| "text_feature_dim": 512, | |
| "transformer_hidden_dim": 512, | |
| "transformer_n_heads": 8, | |
| "transformer_n_layers": 8, | |
| "transformer_mlp_ratio": 4.0, | |
| "transformer_time_embed_dim": 128, | |
| "num_train_timesteps": 100, | |
| "num_inference_steps": 25, | |
| "beta_schedule": "squaredcos_cap_v2", | |
| "prediction_type": "epsilon", | |
| "horizon": 16, | |
| "n_action_steps": 4, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MIN_MAX" | |
| }, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_weight_decay": 1e-06 | |
| } |