fix: standardize against fracapuano/pi0
Browse files- config.json +16 -8
config.json
CHANGED
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@@ -1,6 +1,8 @@
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{
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"type": "pi0",
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"n_obs_steps": 1,
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "MEAN_STD",
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@@ -13,20 +15,28 @@
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6
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]
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},
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-
"observation.
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"type": "VISUAL",
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"shape": [
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3,
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-
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-
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]
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},
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"observation.
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"type": "VISUAL",
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"shape": [
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3,
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-
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-
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]
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}
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},
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@@ -38,8 +48,6 @@
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]
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}
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},
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-
"device": "cuda",
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-
"use_amp": false,
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"chunk_size": 50,
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"n_action_steps": 50,
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"max_state_dim": 32,
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{
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"type": "pi0",
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"n_obs_steps": 1,
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+
"device": "cuda",
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"use_amp": false,
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "MEAN_STD",
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6
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]
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},
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+
"observation.image2": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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]
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},
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"observation.image": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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+
256
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]
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},
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"observation.image3": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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+
256
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]
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}
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},
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]
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}
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},
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"chunk_size": 50,
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"n_action_steps": 50,
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"max_state_dim": 32,
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