| { | |
| "type": "residual_transformer", | |
| "n_obs_steps": 1, | |
| "normalization_mapping": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD", | |
| "ENV": "MEAN_STD" | |
| }, | |
| "input_features": { | |
| "observation.images.image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.wrist_image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 8 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "push_to_hub": true, | |
| "repo_id": "k1000dai/residual_transformer_libero_object", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "vision_backbone": "resnet18", | |
| "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", | |
| "freeze_vision_backbone": false, | |
| "dim_model": 512, | |
| "n_heads": 8, | |
| "n_encoder_layers": 10, | |
| "dim_feedforward": 2048, | |
| "dropout": 0.1, | |
| "use_language": true, | |
| "optimizer_lr": 1e-05, | |
| "optimizer_weight_decay": 1e-05 | |
| } |