Instructions to use chomeed/rewind_state_dexmg_two_arm_threading with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use chomeed/rewind_state_dexmg_two_arm_threading with LeRobot:
# No code snippets available yet for this library. # To use this model, check the repository files and the library's documentation. # Want to help? PRs adding snippets are welcome at: # https://github.com/huggingface/huggingface.js
- Notebooks
- Google Colab
- Kaggle
Download config.json from chomeed/rewind_state_dexmg_two_arm_threading: direct link, hf CLI and curl.
- Browser
- Download file 2.11 kB
-
https://huggingface.co/chomeed/rewind_state_dexmg_two_arm_threading/resolve/main/config.json
- Command line
-
hf download hf://chomeed/rewind_state_dexmg_two_arm_threading/config.json
-
curl -L -o config.json https://huggingface.co/chomeed/rewind_state_dexmg_two_arm_threading/resolve/main/config.json
2.11 kB
| { | |
| "type": "rewind_state", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.images.agentview": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 84, | |
| 84 | |
| ] | |
| }, | |
| "observation.images.robot0_eye_in_hand": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 84, | |
| 84 | |
| ] | |
| }, | |
| "observation.images.robot1_eye_in_hand": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 84, | |
| 84 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 18 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 14 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": false, | |
| "repo_id": "chomeed/rewind_state_dexmg_threading_v1", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "d_model": 512, | |
| "vis_emb_dim": 768, | |
| "text_emb_dim": 384, | |
| "state_dim": 18, | |
| "n_layers": 4, | |
| "n_heads": 8, | |
| "dropout": 0.1, | |
| "num_cameras": 3, | |
| "finetune_encoder": true, | |
| "finetune_encoder_blocks": 2, | |
| "encoder_ckpt": "facebook/dinov2-base", | |
| "encoder_lr": 1e-05, | |
| "encoder_camera_keys": [ | |
| "observation.images.agentview", | |
| "observation.images.robot0_eye_in_hand", | |
| "observation.images.robot1_eye_in_hand" | |
| ], | |
| "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": 50000, | |
| "scheduler_decay_lr": 2.5e-06, | |
| "scheduler_peak_lr": 5e-05, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "LANGUAGE": "IDENTITY", | |
| "REWARD": "IDENTITY" | |
| } | |
| } |