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gact-cubes-26ap1

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gaze_act
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gact-cubes-26ap1
File size: 2,965 Bytes
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{
    "type": "gaze_act",
    "n_obs_steps": 1,
    "input_features": {
        "observation.images.right": {
            "type": "VISUAL",
            "shape": [
                240,
                320,
                3
            ]
        },
        "observation.images.left": {
            "type": "VISUAL",
            "shape": [
                240,
                320,
                3
            ]
        },
        "observation.images.user": {
            "type": "VISUAL",
            "shape": [
                240,
                320,
                3
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                26
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": true,
    "repo_id": "fecasado/gact-cubes-27a",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "chunk_size": 30,
    "n_action_steps": 1,
    "normalization_mapping": {
        "VISUAL": "MEAN_STD",
        "STATE": "MEAN_STD",
        "ACTION": "MEAN_STD"
    },
    "vision_backbone": "resnet18",
    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
    "replace_final_stride_with_dilation": false,
    "pre_norm": false,
    "dim_model": 512,
    "n_heads": 8,
    "dim_feedforward": 3200,
    "feedforward_activation": "relu",
    "n_encoder_layers": 4,
    "n_decoder_layers": 1,
    "use_vae": true,
    "latent_dim": 32,
    "n_vae_encoder_layers": 4,
    "temporal_ensemble_coeff": 0.01,
    "dropout": 0.1,
    "kl_weight": 10.0,
    "optimizer_lr": 1e-05,
    "optimizer_weight_decay": 0.0001,
    "optimizer_lr_backbone": 1e-05,
    "vit_token_size": 16,
    "vit_foveation_strides": [
        1,
        2,
        6
    ],
    "vit_foveation_grid_sizes": [
        2,
        3,
        3
    ],
    "vit_model_size": "base",
    "vit_pretrained_repo_id": "iantc104/mae_vitb_foveated_vit",
    "vit_freeze": true,
    "gaze_feature_dim": 3,
    "gaze_state_indices": [
        -3,
        -2,
        -1
    ],
    "gaze_temporal_window": 1,
    "gaze_cross_camera": false,
    "gaze_cross_camera_method_train": "roma",
    "gaze_cross_camera_method_inference": "roma",
    "gaze_cross_camera_match_every": 5,
    "gaze_cross_camera_timeout": 0.05,
    "gaze_cross_camera_cache": null,
    "gaze_token": false,
    "gaze_heatmap": false,
    "gaze_heatmap_sigma": 60.0,
    "gaze_heatmap_decay": 1.0,
    "gaze_film": false,
    "gaze_film_multilayer": false,
    "gaze_overlay": false,
    "gaze_overlay_radius": 12,
    "gaze_overlay_alpha": 0.5,
    "gaze_camera": "user",
    "gaze_attention_guidance": false,
    "gaze_attention_weight": 1.0,
    "gaze_contrastive": false,
    "gaze_contrastive_weight": 0.1,
    "gaze_contrastive_negatives": 16,
    "gaze_contrastive_tau": 0.07,
    "gaze_prediction": false,
    "gaze_prediction_weight": 0.1
}