Hugging Face's logo

chomeed
/
rewind_anubis

Robotics
LeRobot
Safetensors
rewind
Model card Files
xet
 Community
rewind_anubis
File size: 2,282 Bytes
f0b3762
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
{
    "type": "rewind",
    "n_obs_steps": 1,
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                14
            ]
        },
        "observation.images.front": {
            "type": "VISUAL",
            "shape": [
                3,
                240,
                320
            ]
        },
        "observation.images.wrist_left": {
            "type": "VISUAL",
            "shape": [
                3,
                240,
                320
            ]
        },
        "observation.images.wrist_right": {
            "type": "VISUAL",
            "shape": [
                3,
                240,
                320
            ]
        },
        "observation.dinov2.front": {
            "type": "STATE",
            "shape": [
                768
            ]
        },
        "observation.dinov2.wrist_left": {
            "type": "STATE",
            "shape": [
                768
            ]
        },
        "observation.dinov2.wrist_right": {
            "type": "STATE",
            "shape": [
                768
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                23
            ]
        },
        "action_quat": {
            "type": "ACTION",
            "shape": [
                19
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": true,
    "repo_id": "chomeed/rewind_anubis",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "d_model": 512,
    "vis_emb_dim": 768,
    "text_emb_dim": 384,
    "n_layers": 4,
    "n_heads": 8,
    "dropout": 0.1,
    "num_cameras": 3,
    "optimizer_lr": 0.0001,
    "optimizer_betas": [
        0.9,
        0.95
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 1e-10,
    "optimizer_grad_clip_norm": 10.0,
    "scheduler_warmup_steps": 1000,
    "scheduler_decay_steps": 5000,
    "scheduler_decay_lr": 2.5e-06,
    "scheduler_peak_lr": 5e-05,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "MEAN_STD",
        "LANGUAGE": "IDENTITY",
        "REWARD": "IDENTITY"
    }
}