| { |
| "type": "multi_task_dit", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 26 |
| ] |
| }, |
| "observation.images.center_camera": { |
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| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.right_camera": { |
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| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.center_camera_center_crop": { |
| "type": "VISUAL", |
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| 3, |
| 256, |
| 256 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": "RzZ/cpolicy3", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": "RzZ/cpolicy-2-40k", |
| "horizon": 24, |
| "n_action_steps": 16, |
| "objective": "flow_matching", |
| "noise_scheduler_type": "DDPM", |
| "num_train_timesteps": 100, |
| "beta_schedule": "squaredcos_cap_v2", |
| "beta_start": 0.0001, |
| "beta_end": 0.02, |
| "prediction_type": "epsilon", |
| "clip_sample": true, |
| "clip_sample_range": 1.0, |
| "num_inference_steps": null, |
| "sigma_min": 0.0, |
| "num_integration_steps": 100, |
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| "timestep_sampling_strategy": "beta", |
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| "timestep_sampling_alpha": 1.5, |
| "timestep_sampling_beta": 1.0, |
| "use_relative_actions": true, |
| "relative_exclude_joints": [ |
| "gripper" |
| ], |
| "action_feature_names": [ |
| "position.x", |
| "position.y", |
| "position.z", |
| "orientation.x", |
| "orientation.y", |
| "orientation.z", |
| "orientation.w" |
| ], |
| "hidden_dim": 512, |
| "num_layers": 6, |
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| "dropout": 0.1, |
| "use_positional_encoding": false, |
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| "rope_base": 10000.0, |
| "vision_encoder_name": "openai/clip-vit-base-patch16", |
| "use_separate_rgb_encoder_per_camera": false, |
| "vision_encoder_lr_multiplier": 0.1, |
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| 224, |
| 224 |
| ], |
| "image_crop_shape": [ |
| 224, |
| 224 |
| ], |
| "image_crop_is_random": true, |
| "freeze_vision_encoder": false, |
| "text_encoder_name": "openai/clip-vit-base-patch16", |
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| "tokenizer_padding": "max_length", |
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| "normalization_mapping": { |
| "VISUAL": "MEAN_STD", |
| "STATE": "MIN_MAX", |
| "ACTION": "MIN_MAX" |
| }, |
| "optimizer_lr": 2e-05, |
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| 0.95, |
| 0.999 |
| ], |
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| "scheduler_name": "cosine", |
| "scheduler_warmup_steps": 0, |
| "do_mask_loss_for_padding": false, |
| "drop_n_last_frames": 8 |
| } |
