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rewind_peg_insertion

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rewind_peg_insertion
File size: 1,850 Bytes
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{
    "type": "rewind",
    "n_obs_steps": 1,
    "input_features": {
        "observation.images.front_rgb": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "observation.images.wrist_rgb": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "observation.dinov2.front_rgb": {
            "type": "STATE",
            "shape": [
                768
            ]
        },
        "observation.dinov2.wrist_rgb": {
            "type": "STATE",
            "shape": [
                768
            ]
        }
    },
    "output_features": {},
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": true,
    "repo_id": "chomeed/rewind_peg_insertion",
    "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": 2,
    "finetune_encoder": true,
    "finetune_encoder_blocks": 2,
    "encoder_ckpt": "facebook/dinov2-base",
    "encoder_lr": 1e-05,
    "encoder_camera_keys": [
        "observation.images.front_rgb",
        "observation.images.wrist_rgb"
    ],
    "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"
    }
}