maskjp's picture
mtdit_eef @ step 070000 (held-out-loss minimum)
63c8ac9 verified
Raw
History Blame Contribute Delete
4.01 kB
{
"type": "mtdit_spatial",
"n_obs_steps": 2,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
13
]
},
"observation.images.left": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"observation.images.right": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"observation.images.wrist": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"observation.base_pose": {
"type": "STATE",
"shape": [
3
]
},
"observation.eef_state": {
"type": "STATE",
"shape": [
13
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
13
]
},
"action.eef": {
"type": "ACTION",
"shape": [
13
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": false,
"repo_id": null,
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"pretrained_revision": null,
"horizon": 32,
"n_action_steps": 24,
"objective": "diffusion",
"noise_scheduler_type": "DDPM",
"num_train_timesteps": 100,
"beta_schedule": "squaredcos_cap_v2",
"beta_start": 0.0001,
"beta_end": 0.02,
"prediction_type": "epsilon",
"clip_sample": true,
"clip_sample_range": 1.0,
"num_inference_steps": null,
"sigma_min": 0.0,
"num_integration_steps": 100,
"integration_method": "euler",
"timestep_sampling_strategy": "beta",
"timestep_sampling_s": 0.999,
"timestep_sampling_alpha": 1.5,
"timestep_sampling_beta": 1.0,
"hidden_dim": 512,
"num_layers": 4,
"num_heads": 8,
"dropout": 0.1,
"use_positional_encoding": false,
"timestep_embed_dim": 256,
"use_rope": true,
"rope_base": 10000.0,
"vision_encoder_name": "openai/clip-vit-base-patch16",
"use_separate_rgb_encoder_per_camera": false,
"vision_encoder_lr_multiplier": 0.1,
"image_resize_shape": [
240,
320
],
"image_crop_shape": [
224,
224
],
"image_crop_is_random": true,
"vision_feature_mode": "cls",
"num_spatial_keypoints": 32,
"spatial_softmax_keep_cls": true,
"spatial_softmax_learnable_temperature": true,
"cross_attention_heads": null,
"action_stride": 1,
"state_dropout_prob": 0.0,
"action_loss_weighting": "none",
"loss_weight_max": 4.0,
"loss_gripper_dim": 9,
"state_conditioning": "full",
"state_feature_names": null,
"masked_state_names": null,
"use_relative_actions": true,
"relative_exclude_joints": [
"gripper"
],
"action_feature_names": [
"eef_x",
"eef_y",
"eef_z",
"eef_xx",
"eef_xy",
"eef_xz",
"eef_yx",
"eef_yy",
"eef_yz",
"gripper",
"base_x",
"base_y",
"base_yaw"
],
"text_encoder_name": "openai/clip-vit-base-patch16",
"tokenizer_max_length": 77,
"tokenizer_padding": "max_length",
"tokenizer_padding_side": "right",
"tokenizer_truncation": true,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MIN_MAX",
"ACTION": "QUANTILES"
},
"optimizer_lr": 0.0003,
"optimizer_betas": [
0.95,
0.999
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 0.0,
"scheduler_name": "cosine",
"scheduler_warmup_steps": 0,
"do_mask_loss_for_padding": false,
"drop_n_last_frames": 7
}