| { | |
| "type": "dit_meanflow", | |
| "n_obs_steps": 2, | |
| "normalization_mapping": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MIN_MAX", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "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.sensors_ft_sensor": { | |
| "type": "STATE", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "observation.state.target": { | |
| "type": "STATE", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 26 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "push_to_hub": true, | |
| "repo_id": "danielsanjosepro/ditmeanflow_stack_multi_v1", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "horizon": 32, | |
| "n_action_steps": 16, | |
| "use_proprioceptive": true, | |
| "drop_n_last_frames": 7, | |
| "vision_backbone": "resnet18", | |
| "crop_shape": null, | |
| "crop_is_random": false, | |
| "pretrained_backbone_weights": null, | |
| "use_group_norm": true, | |
| "spatial_softmax_num_keypoints": 32, | |
| "use_separate_rgb_encoder_per_camera": true, | |
| "frequency_embedding_dim": 256, | |
| "hidden_dim": 512, | |
| "num_blocks": 6, | |
| "num_heads": 16, | |
| "dropout": 0.1, | |
| "dim_feedforward": 4096, | |
| "activation": "gelu", | |
| "training_noise_sampling": "uniform", | |
| "clip_sample": true, | |
| "clip_sample_range": 1.0, | |
| "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, | |
| "use_meanflow": true, | |
| "do_multi_step_sampling": false, | |
| "inference_timesteps": 100, | |
| "time_distribution": "uniform", | |
| "log_norm_mu": -0.4, | |
| "log_norm_sigma": 1.0, | |
| "use_autograd_functional_jvp": false, | |
| "use_adaptative_loss": true, | |
| "flow_ratio": 0.5, | |
| "cfg_prob": 0.1, | |
| "cfg_omega": 2.0, | |
| "cfg_w": 2.0, | |
| "cfg_kappa": 0.0, | |
| "optimizer_grad_clip_norm": 0.5 | |
| } |