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cascaded_flow_stack_v2

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cascaded_flow_stack_v2
File size: 3,303 Bytes 
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{
    "type": "cascaded_flow",
    "n_obs_steps": 2,
    "normalization_mapping": {
        "VISUAL": "MEAN_STD",
        "STATE": "MIN_MAX",
        "ACTION": "MIN_MAX"
    },
    "input_features": {
        "observation.images.primary": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "observation.images.tactile": {
            "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.sensors_ft_sensor": {
            "type": "STATE",
            "shape": [
                6
            ]
        },
        "observation.state.sensors_tactile_sensor": {
            "type": "STATE",
            "shape": [
                15
            ]
        },
        "observation.state.target": {
            "type": "STATE",
            "shape": [
                6
            ]
        },
        "observation.state": {
            "type": "STATE",
            "shape": [
                41
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                7
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "push_to_hub": true,
    "repo_id": "danielsanjosepro/cascaded_flow_stack_v2",
    "private": null,
    "tags": null,
    "license": null,
    "slow_policy_config": {
        "crop_shape": [
            224,
            224
        ],
        "use_separate_rgb_encoder_per_camera": true,
        "horizon": 16,
        "n_action_steps": 6,
        "n_obs_steps": 2,
        "optimizer_lr": 0.0001,
        "training_noise_sampling": "uniform",
        "features_to_exclude": [
            "observation.images.tactile"
        ]
    },
    "fast_policy_config": {
        "crop_shape": [
            224,
            224
        ],
        "use_separate_rgb_encoder_per_camera": true,
        "horizon": 8,
        "n_action_steps": 1,
        "n_obs_steps": 2,
        "frequency_embedding_dim": 128,
        "hidden_dim": 256,
        "num_blocks": 6,
        "num_heads": 16,
        "dropout": 0.1,
        "dim_feedforward": 2048,
        "features_to_exclude": [
            "observation.images.primary",
            "observation.images.wrist",
            "observation.images.tactile"
        ]
    },
    "action_batch_size": 20,
    "sampling_strategy": "stochastic",
    "sampling_temperature": 1.0,
    "smooth_slow_policy_output": false,
    "apply_slow_policy_output": false,
    "use_image_features_for_fast_policy": true,
    "training_stage": "fast_policy",
    "slow_policy_type": "ditmeanflow"
}