new_policy_test / config.json
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Update config.json
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{
"type": "act",
"n_obs_steps": 1,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MIN_MAX",
"ACTION": "MIN_MAX"
},
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [6]
},
"observation.images.front": {
"type": "VISUAL",
"shape": [3, 720, 1280]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [6]
}
},
"device": "cuda",
"use_amp": false,
"chunk_size": 100,
"n_action_steps": 100,
"vision_backbone": "resnet18",
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
"replace_final_stride_with_dilation": false,
"pre_norm": false,
"dim_model": 512,
"n_heads": 8,
"dim_feedforward": 3200,
"feedforward_activation": "relu",
"n_encoder_layers": 4,
"n_decoder_layers": 1,
"use_vae": true,
"latent_dim": 32,
"n_vae_encoder_layers": 4,
"temporal_ensemble_coeff": null,
"dropout": 0.1,
"kl_weight": 10.0,
"optimizer_lr": 1e-05,
"optimizer_weight_decay": 0.0001,
"optimizer_lr_backbone": 1e-05,
"normalization_stats": {
"STATE": {
"type": "MIN_MAX",
"min": [-87.9917221069336, -99.32231903076172, -98.47122192382812, -99.39393615722656, -92.20779418945312, 1.2709029912948608],
"max": [94.9482421875, 100.0, 99.82014465332031, 100.0, 61.40259552001953, 72.9765853881836]
},
"ACTION": {
"type": "MIN_MAX",
"min": [-87.84749603271484, -100.0, -99.90917205810547, -100.0, -92.48041534423828, 0.0],
"max": [95.5520248413086, 100.0, 100.0, 100.0, 61.723236083984375, 73.77326202392578]
}
}
}