Instructions to use lerobot/being_h05_base with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use lerobot/being_h05_base with LeRobot:
- Notebooks
- Google Colab
- Kaggle
| { | |
| "type": "being_h05", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.images.robot0_agentview_left": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ] | |
| }, | |
| "observation.images.robot0_agentview_right": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ] | |
| }, | |
| "observation.images.robot0_eye_in_hand": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ] | |
| }, | |
| "observation.state.eef_position": { | |
| "type": "STATE", | |
| "shape": [ | |
| 3 | |
| ] | |
| }, | |
| "observation.state.eef_rotation": { | |
| "type": "STATE", | |
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| "observation.state.gripper_qpos": { | |
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| } | |
| }, | |
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| "type": "ACTION", | |
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| 12 | |
| ] | |
| } | |
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| "author_model_id": "BeingBeyond/Being-H05-2B", | |
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| "attention_dropout": 0.0, | |
| "layer_norm_eps": 1e-06, | |
| "hidden_act": "gelu", | |
| "norm_type": "layer_norm", | |
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| "select_layer": -1, | |
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| "connector_arch": "internvl_connector", | |
| "template": "internlm2-chat", | |
| "select_layer": -1, | |
| "force_image_size": 224, | |
| "downsample_ratio": 0.5, | |
| "unified_state_dim": 200, | |
| "unified_action_dim": 200, | |
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| "prompt_template": "long", | |
| "use_expert": true, | |
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| "filter_loss_proportion": 0.0, | |
| "motion_as_text": false, | |
| "pred_motion_continuous": false, | |
| "pred_motion_discrete": "none", | |
| "action_context_mode": "discrete", | |
| "motion_vocab_size": 8192, | |
| "motion_block_size": 128, | |
| "max_motion_chunk_length": 256, | |
| "latent_type": "simple", | |
| "use_latent_vision": false, | |
| "use_latent_loss": false, | |
| "output_num_latents": 32, | |
| "use_latent_predictor": false, | |
| "latent_encoder_name": "dinov2", | |
| "latent_dim": 256, | |
| "perceiver_num_latents": 64, | |
| "tune_latent_vit": false, | |
| "lat_enc_layer": -1, | |
| "lat_emb_layer": -1, | |
| "ema_decay": 0.999, | |
| "num_perceiver_layers": 2, | |
| "num_perceiver_heads": 8, | |
| "num_output_layers": 2, | |
| "num_output_heads": 8, | |
| "temporal_length": 2, | |
| "perceiver_dropout": 0.0, | |
| "lambda_latent": 0.8, | |
| "max_num_embodiments": 32, | |
| "noise_beta_alpha": 1.5, | |
| "noise_beta_beta": 1.0, | |
| "num_timestep_buckets": 1000, | |
| "noise_s": 0.999, | |
| "num_inference_timesteps": 4, | |
| "model_type": "beingh", | |
| "output_attentions": false, | |
| "use_mpg": true, | |
| "mpg_lambda": 0.0, | |
| "mpg_num_projections": 32, | |
| "mpg_refinement_iters": 1, | |
| "mpg_gate_temperature": 2.0, | |
| "mpg_use_stop_gradient": true, | |
| "action_chunk_length": 16, | |
| "action_token_num": 16 | |
| }, | |
| "tokenizer_name": "BeingBeyond/Being-H05-2B", | |
| "tokenizer_revision": "bb31ffcf7d67a8d5ec82d715d5e1678581ef6374", | |
| "embodiment": "robocasa_human", | |
| "embodiment_id": 31, | |
| "image_keys": [ | |
| "observation.images.robot0_agentview_left", | |
| "observation.images.robot0_agentview_right", | |
| "observation.images.robot0_eye_in_hand" | |
| ], | |
| "image_size": 224, | |
| "unified_state_dim": 200, | |
| "unified_action_dim": 200, | |
| "chunk_size": 16, | |
| "n_action_steps": 8, | |
| "num_inference_steps": 4, | |
| "prompt_template": "According to the instruction '{task_description}', what's the micro-step actions in the next {k} steps?", | |
| "metadata": {}, | |
| "optimizer_lr": 2e-05, | |
| "optimizer_weight_decay": 0.0, | |
| "scheduler_warmup_steps": 1000, | |
| "scheduler_decay_steps": 100000, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "IDENTITY", | |
| "ACTION": "IDENTITY" | |
| } | |
| } | |