| { | |
| "type": "vla", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.front": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.vfm_features.wrist": { | |
| "type": "STATE", | |
| "shape": [ | |
| 16, | |
| 16, | |
| 768 | |
| ] | |
| }, | |
| "observation.vfm_features.front": { | |
| "type": "STATE", | |
| "shape": [ | |
| 16, | |
| 16, | |
| 768 | |
| ] | |
| }, | |
| "observation.skill_feature": { | |
| "type": "STATE", | |
| "shape": [ | |
| 1024 | |
| ] | |
| }, | |
| "observation.object_feature": { | |
| "type": "STATE", | |
| "shape": [ | |
| 1024 | |
| ] | |
| }, | |
| "observation.vlm_features.wrist": { | |
| "type": "STATE", | |
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| 16, | |
| 16, | |
| 1024 | |
| ] | |
| }, | |
| "observation.vlm_features.front": { | |
| "type": "STATE", | |
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| 16, | |
| 16, | |
| 1024 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "device": "cuda:0", | |
| "use_amp": false, | |
| "push_to_hub": true, | |
| "repo_id": "Tsagkas/vla_state_modulation_v3_variability", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "num_cameras": 2, | |
| "chunk_size": 100, | |
| "n_action_steps": 100, | |
| "state_dim": 7, | |
| "action_dim": 7, | |
| "state_hidden_dim": 256, | |
| "state_output_dim": 768, | |
| "num_transformer_heads": 12, | |
| "transformer_hidden_dim": 768, | |
| "transformer_expansion_factor": 4, | |
| "attention_probs_dropout_prob": 0.0, | |
| "hidden_dropout_prob": 0.1, | |
| "temporal_ensemble_coeff": 0.01, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_weight_decay": 0.0001, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| } | |
| } |