| { | |
| "type": "llarva", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.images.image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ] | |
| }, | |
| "observation.images.image2": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 8 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": true, | |
| "push_to_hub": true, | |
| "repo_id": "globcy/llarva_bottom_up_25", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "model_name": "globcy/llarva_hf", | |
| "chunk_size": 25, | |
| "dtype": "bfloat16", | |
| "gradient_checkpointing": true, | |
| "dynamic_action_chunking": "trace", | |
| "optimizer_lr": 5e-05, | |
| "optimizer_weight_decay": 0.0, | |
| "scheduler_decay_lr": 2.5e-06, | |
| "scheduler_warmup_steps": 1000, | |
| "scheduler_decay_steps": 30000 | |
| } |