| { |
| "schema_version": 1, |
| "dataset": "robocasa", |
| "status": "staged_research_preview", |
| "codec": "robocasa/codec", |
| "action_ranges": "robocasa/preprocessing/action_ranges.pt", |
| "action_tokens_per_step": 52, |
| "text_conditioning": { |
| "enabled": true, |
| "repo_id": "google-t5/t5-base", |
| "revision": "a9723ea7f1b39c1eae772870f3b547bf6ef7e6c1", |
| "layers": [ |
| 3, |
| 7, |
| 11 |
| ], |
| "inner": 256, |
| "width": 768, |
| "max_tokens": 128, |
| "bundled": false |
| }, |
| "initial_observations": 2, |
| "memory": { |
| "anchor_states": 1, |
| "recent_states": 6, |
| "ground_truth_refresh": false |
| }, |
| "evaluation": { |
| "strategy": "per_frame_beam", |
| "beam_width": 4, |
| "horizon": 32, |
| "visual_tokens_per_frame": 80, |
| "valid_visual_vocab": 4375 |
| }, |
| "variants": { |
| "main": { |
| "path": "robocasa/models/main", |
| "method": "MemSPO", |
| "updates": 400, |
| "reward": "R0", |
| "purpose": "paper_main_table", |
| "text": true |
| }, |
| "sft": { |
| "path": "robocasa/models/sft", |
| "method": "SFT", |
| "updates": 50000, |
| "reward": null, |
| "purpose": "matched_ablation", |
| "text": true |
| }, |
| "memspo200": { |
| "path": "robocasa/models/memspo200", |
| "method": "MemSPO", |
| "updates": 200, |
| "reward": "R0", |
| "purpose": "matched_ablation", |
| "text": true |
| }, |
| "grpo200": { |
| "path": "robocasa/models/grpo200", |
| "method": "GRPO", |
| "updates": 200, |
| "reward": "R0", |
| "purpose": "matched_ablation", |
| "text": true |
| }, |
| "ordinary200": { |
| "path": "robocasa/models/ordinary200", |
| "method": "OrdinaryBeam", |
| "updates": 200, |
| "reward": "R0", |
| "purpose": "matched_ablation", |
| "text": true |
| } |
| } |
| } |
|
|
