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{
"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": [
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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"
}
}