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Groot-test

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Groot-test
File size: 2,243 Bytes 
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{
    "type": "groot",
    "n_obs_steps": 1,
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                6
            ]
        },
        "observation.images.front": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        },
        "observation.images.eye-in-hand": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        },
        "observation.images.top-down": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                6
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "push_to_hub": true,
    "repo_id": "kagyvro48/Groot-test",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "chunk_size": 50,
    "n_action_steps": 50,
    "max_state_dim": 64,
    "max_action_dim": 32,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "MEAN_STD",
        "ACTION": "MEAN_STD"
    },
    "image_size": [
        224,
        224
    ],
    "base_model_path": "nvidia/GR00T-N1.5-3B",
    "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
    "embodiment_tag": "new_embodiment",
    "tune_llm": false,
    "tune_visual": false,
    "tune_projector": true,
    "tune_diffusion_model": true,
    "lora_rank": 0,
    "lora_alpha": 16,
    "lora_dropout": 0.1,
    "lora_full_model": false,
    "optimizer_lr": 0.0001,
    "optimizer_betas": [
        0.95,
        0.999
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 1e-05,
    "warmup_ratio": 0.05,
    "use_bf16": true,
    "video_backend": "decord",
    "balance_dataset_weights": true,
    "balance_trajectory_weights": true,
    "dataset_paths": null,
    "output_dir": "./tmp/gr00t",
    "save_steps": 1000,
    "max_steps": 10000,
    "batch_size": 32,
    "dataloader_num_workers": 8,
    "report_to": "wandb",
    "resume": false
}