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gear_sortV3_dot / config.json
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{
"type": "dot",
"n_obs_steps": 3,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
6
]
},
"observation.images.top_view": {
"type": "VISUAL",
"shape": [
3,
600,
960
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
6
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": "VEXAutoSort/gear_sortV3_dot",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"pretrained_revision": null,
"train_horizon": 100,
"inference_horizon": 100,
"lookback_obs_steps": 30,
"lookback_aug": 2,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MIN_MAX",
"ENV": "MIN_MAX",
"ACTION": "MIN_MAX"
},
"vision_backbone": "resnet18",
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
"pre_norm": true,
"lora_rank": 20,
"merge_lora": false,
"dim_model": 128,
"n_heads": 8,
"dim_feedforward": 512,
"n_decoder_layers": 8,
"rescale_shape": [
150,
240
],
"crop_scale": 0.8,
"state_noise": 0.01,
"noise_decay": 0.999995,
"dropout": 0.1,
"alpha": 0.75,
"train_alpha": 0.9,
"predict_every_n": 1,
"return_every_n": 1,
"optimizer_lr": 0.0001,
"optimizer_min_lr": 1e-05,
"optimizer_lr_cycle_steps": 80000,
"optimizer_warmup_steps": 1000,
"optimizer_weight_decay": 1e-05
}