Instructions to use fecasado/gfm-cubes-26ap1 with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use fecasado/gfm-cubes-26ap1 with LeRobot:
- Notebooks
- Google Colab
- Kaggle
| { | |
| "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-26ap1", | |
| "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", | |
| "vit_token_size": 16, | |
| "vit_foveation_strides": [ | |
| 1, | |
| 2, | |
| 6 | |
| ], | |
| "vit_foveation_grid_sizes": [ | |
| 2, | |
| 3, | |
| 3 | |
| ], | |
| "vit_model_size": "small", | |
| "vit_pretrained_repo_id": "iantc104/mae_vitb_foveated_vit", | |
| "vit_freeze": true, | |
| "vit_backbone": "vit_foveated", | |
| "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, | |
| "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 | |
| } |