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gaze_flow_matching
gfm-cubes-baseline2 / config.json
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{
"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-baseline2",
"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": "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,
"obs_step_size": 1,
"n_action_steps": 2,
"horizon": 4,
"n_sampling_steps": 32,
"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": false,
"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
}