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| "n_obs_steps": 1, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
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| 3, |
| 480, |
| 640 |
| ] |
| } |
| }, |
| "output_features": { |
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| "type": "ACTION", |
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| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "push_to_hub": false, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": "nvidia/GR00T-N1.5-3B", |
| "base_model_path": "nvidia/GR00T-N1.5-3B", |
| "eagle_path": null, |
| "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5", |
| "tune_llm": true, |
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| "eagle_project_to_dim": null, |
| "tune_projector": true, |
| "tune_diffusion_model": true, |
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| "num_timestep_buckets": 1000, |
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| "embodiment_tag": "new_embodiment", |
| "action_head_hidden_size": 1024, |
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| "add_pos_embed": true, |
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| "num_target_vision_tokens": 32, |
| "use_vlln": true, |
| "diffusion_model_cfg": { |
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| "cross_attention_dim": 2048, |
| "dropout": 0.2, |
| "final_dropout": true, |
| "interleave_self_attention": true, |
| "norm_type": "ada_norm", |
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| "num_layers": 16, |
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| }, |
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| 448 |
| ], |
| "tokenizer_max_length": 200, |
| "use_bf16": true, |
| "compile_model": false, |
| "compile_mode": "max-autotune", |
| "dtype": "bfloat16", |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| }, |
| "optimizer_lr": 0.0001, |
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| "scheduler_warmup_steps": 500, |
| "scheduler_decay_steps": 10000, |
| "scheduler_decay_lr": 1e-05 |
| } |
