{ "type": "gaze_flow_matching", "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/gfm-cubes-23a", "private": null, "tags": null, "license": null, "pretrained_path": null, "normalization_mapping": { "VISUAL": "MEAN_STD", "STATE": "MEAN_STD", "ACTION": "MEAN_STD" }, "gaze_feature_dim": 3, "gaze_state_indices": [ -3, -2, -1 ], "gaze_temporal_window": 1, "vision_backbone": "resnet18", "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", "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": "", "vit_freeze": false, "vit_backbone": "resnet18", "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_cross_camera_smoothing": 0.9, "gaze_heatmap": false, "gaze_heatmap_sigma": 60.0, "gaze_heatmap_decay": 1.0, "gaze_camera": "user", "gaze_overlay": false, "gaze_overlay_radius": 12, "gaze_overlay_alpha": 0.5, "gaze_film": true, "obs_step_size": 1, "n_action_steps": 2, "horizon": 16, "n_sampling_steps": 8, "use_temporal_ensemble": true, "temporal_ensemble_coeff": -0.01, "dim_model": 512, "n_heads": 8, "mlp_ratio": 4.0, "dropout": 0.1, "dit_n_layers": 8, "dit_time_dim": 256, "pool_n_queries": 16, "pool_n_layers": 4, "use_gaze": true, "use_gaze_as_action": false, "gaze_model_repo_id": "", "gaze_noise": 0.01, "image_norm_mode": "mean_std", "state_norm_mode": "min_max", "action_norm_mode": "min_max", "image_to_gaze_key": {}, "optimizer_lr": 0.0001, "optimizer_lr_backbone": 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_ema": true, "ema_decay": 0.99, "input_shape": [ 240, 320 ], "visualize": true }