| { |
| "type": "vqbet", |
| "n_obs_steps": 5, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MIN_MAX", |
| "ACTION": "MIN_MAX" |
| }, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.images.webcam": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "n_action_pred_token": 3, |
| "action_chunk_size": 5, |
| "vision_backbone": "resnet18", |
| "crop_shape": [ |
| 84, |
| 84 |
| ], |
| "crop_is_random": true, |
| "pretrained_backbone_weights": null, |
| "use_group_norm": true, |
| "spatial_softmax_num_keypoints": 32, |
| "n_vqvae_training_steps": 15000, |
| "vqvae_n_embed": 16, |
| "vqvae_embedding_dim": 256, |
| "vqvae_enc_hidden_dim": 128, |
| "gpt_block_size": 500, |
| "gpt_input_dim": 512, |
| "gpt_output_dim": 512, |
| "gpt_n_layer": 8, |
| "gpt_n_head": 8, |
| "gpt_hidden_dim": 512, |
| "dropout": 0.1, |
| "mlp_hidden_dim": 1024, |
| "offset_loss_weight": 10000.0, |
| "primary_code_loss_weight": 5.0, |
| "secondary_code_loss_weight": 0.5, |
| "bet_softmax_temperature": 0.1, |
| "sequentially_select": false, |
| "optimizer_lr": 0.0001, |
| "optimizer_betas": [ |
| 0.95, |
| 0.999 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 1e-06, |
| "optimizer_vqvae_lr": 0.001, |
| "optimizer_vqvae_weight_decay": 0.0001, |
| "scheduler_warmup_steps": 500 |
| } |
