Robotics
LeRobot
Safetensors
drifting
drifting_robomme / config.json
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{
"type": "drifting",
"n_obs_steps": 1,
"input_features": {
"observation.images.image": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.images.wrist_image": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.state": {
"type": "STATE",
"shape": [
8
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
8
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": "Xihe666/drifting_robomme",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"pretrained_revision": null,
"chunk_size": 40,
"n_action_steps": 40,
"max_state_dim": 132,
"max_action_dim": 132,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "IDENTITY",
"ACTION": "IDENTITY"
},
"base_model_path": "nvidia/GR00T-N1.7-3B",
"action_decode_transform": null,
"embodiment_tag": "new_embodiment",
"tune_llm": false,
"tune_visual": false,
"tune_projector": true,
"tune_diffusion_model": false,
"tune_vlln": true,
"tune_top_llm_layers": 0,
"num_inference_timesteps": 1,
"rtc_ramp_rate": null,
"use_flash_attention": false,
"use_relative_actions": false,
"relative_exclude_joints": [],
"optimizer_lr": 0.0001,
"optimizer_betas": [
0.9,
0.999
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 1e-05,
"warmup_ratio": 0.05,
"use_bf16": true,
"model_params_fp32": true,
"image_size": [
256,
256
],
"tokenizer_assets_repo": null,
"lora_rank": 0,
"lora_alpha": 16,
"lora_dropout": 0.1,
"lora_full_model": false,
"video_backend": "decord",
"balance_dataset_weights": true,
"balance_trajectory_weights": true,
"dataset_paths": null,
"output_dir": "./tmp/gr00t",
"save_steps": 1000,
"max_steps": 10000,
"batch_size": 32,
"dataloader_num_workers": 8,
"report_to": "wandb",
"resume": false,
"backbone_model_name": "nvidia/Cosmos-Reason2-2B",
"backbone_embedding_dim": 2048,
"select_layer": 16,
"state_history_length": 1,
"max_num_embodiments": 32,
"action_model_dim": 1024,
"action_model_num_layers": 12,
"action_model_num_heads": 16,
"action_model_ff_dim": 4096,
"action_model_dropout": 0.1,
"attend_text_every_n_blocks": 2,
"add_pos_embed": true,
"max_seq_len": 1024,
"num_timestep_buckets": 1000,
"proximal_time": 0.9,
"proximal_loss_weight": 81.0,
"geometry_epsilon": 1e-06,
"state_dropout_prob": 0.2,
"tune_action_model": true
}