| { |
| "type": "dit", |
| "n_obs_steps": 2, |
| "input_features": { |
| "observation.images.primary": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.state.cartesian": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.state.gripper": { |
| "type": "STATE", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "observation.state.joints": { |
| "type": "STATE", |
| "shape": [ |
| 7 |
| ] |
| }, |
| "observation.state.target": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 20 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": "continuallearning/dit_fft_pretraining_v1_seed1000", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "horizon": 16, |
| "n_action_steps": 8, |
| "normalization_mapping": { |
| "VISUAL": "MEAN_STD", |
| "STATE": "MIN_MAX", |
| "ACTION": "MIN_MAX" |
| }, |
| "drop_n_last_frames": 7, |
| "tokenizer_max_length": 48, |
| "language_model_name": "openai/clip-vit-base-patch32", |
| "freeze_language_pretrained": true, |
| "vit_name": "facebook/dinov2-base", |
| "frequency_embedding_dim": 256, |
| "hidden_dim": 512, |
| "num_blocks": 6, |
| "num_heads": 16, |
| "dropout": 0.1, |
| "dim_feedforward": 4096, |
| "activation": "gelu", |
| "noise_type": "flow_matching", |
| "training_noise_sampling": "uniform", |
| "num_train_timesteps": 100, |
| "beta_schedule": "squaredcos_cap_v2", |
| "beta_start": 0.0001, |
| "beta_end": 0.02, |
| "prediction_type": "epsilon", |
| "set_alpha_to_one": true, |
| "steps_offset": 0, |
| "clip_sample": true, |
| "clip_sample_range": 1.0, |
| "use_encoder": false, |
| "n_encoder_layers": 6, |
| "num_inference_steps": 100, |
| "do_mask_loss_for_padding": false, |
| "optimizer_lr": 0.0001, |
| "optimizer_betas": [ |
| 0.95, |
| 0.999 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 1e-06, |
| "scheduler_name": "cosine", |
| "scheduler_warmup_steps": 500 |
| } |
