takeoff_fact / config.json
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{
"type": "fact",
"n_obs_steps": 1,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
27
]
},
"observation.images.front": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"observation.images.top": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"observation.images.wrist_l": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"observation.images.wrist_r": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
16
]
}
},
"device": "cuda",
"use_amp": false,
"push_to_hub": true,
"repo_id": "takeoff_fact",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"chunk_size": 50,
"n_action_steps": 1,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"vision_backbone": "resnet18",
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
"replace_final_stride_with_dilation": 0,
"pre_norm": false,
"dim_model": 512,
"n_heads": 8,
"dim_feedforward": 3200,
"feedforward_activation": "relu",
"n_encoder_layers": 4,
"n_decoder_layers": 1,
"use_vae": true,
"latent_dim": 32,
"n_vae_encoder_layers": 4,
"selected_state_shape": [
18
],
"selected_action_shape": [
20
],
"wrench_dim": null,
"phase_num": 3,
"temporal_ensemble_coeff": 0.1,
"dropout": 0.1,
"kl_weight": 10.0,
"optimizer_lr": 1e-05,
"optimizer_weight_decay": 0.0001,
"optimizer_lr_backbone": 1e-05
}