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PRANA_v2

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PRANA_v2
File size: 1,706 Bytes
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{
    "type": "prana_v2",
    "n_obs_steps": 1,
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                6
            ]
        },
        "observation.images.table": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        },
        "observation.images.wrist": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                6
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": false,
    "repo_id": null,
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "chunk_size": 50,
    "n_action_steps": 40,
    "inpaint_steps": 10,
    "hidden_dim": 256,
    "n_heads": 8,
    "dim_feedforward": 768,
    "n_encoder_layers": 4,
    "n_decoder_layers": 8,
    "dropout": 0.05,
    "num_denoise_steps": 10,
    "noise_beta": 0.5,
    "time_sampling_alpha": 1.5,
    "time_sampling_beta": 1.0,
    "use_delta_actions": true,
    "use_per_timestamp_norm": true,
    "vision_backbone": "vit_tiny_patch16_224",
    "freeze_backbone": true,
    "unfreeze_last_n_blocks": 0,
    "camera_order": [
        "observation.images.table",
        "observation.images.wrist"
    ],
    "normalization_mapping": {
        "VISUAL": "MEAN_STD",
        "STATE": "MEAN_STD",
        "ACTION": "MEAN_STD"
    },
    "optimizer_lr": 0.0001,
    "optimizer_weight_decay": 0.0001
}