| { |
| "type": "reward_classifier", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.images.top": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 128, |
| 128 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 18 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 4 |
| ] |
| } |
| }, |
| "device": "cpu", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "name": "reward_classifier", |
| "num_classes": 2, |
| "hidden_dim": 256, |
| "latent_dim": 256, |
| "image_embedding_pooling_dim": 8, |
| "dropout_rate": 0.1, |
| "model_name": "microsoft/resnet-18", |
| "model_type": "cnn", |
| "num_cameras": 1, |
| "learning_rate": 0.0001, |
| "weight_decay": 0.01, |
| "grad_clip_norm": 1.0, |
| "normalization_mapping": { |
| "VISUAL": "MEAN_STD" |
| } |
| } |
