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folding_lingbot

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lingbot_va
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folding_lingbot
File size: 3,513 Bytes
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{
    "type": "lingbot_va",
    "n_obs_steps": 1,
    "input_features": {
        "observation.images.cam_high": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "observation.images.cam_left_wrist": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "observation.images.cam_right_wrist": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                16
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": true,
    "repo_id": "maximellerbach/folding_lingbot",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": "/fsx/maxime_ellerbach/robots/runs/folding-tshirt/outputs/train/lingbot_absolute_22372322/checkpoints/last/pretrained_model",
    "pretrained_revision": null,
    "patch_size": [
        1,
        2,
        2
    ],
    "num_attention_heads": 24,
    "attention_head_dim": 128,
    "in_channels": 48,
    "out_channels": 48,
    "action_dim": 30,
    "text_dim": 4096,
    "freq_dim": 256,
    "ffn_dim": 14336,
    "num_layers": 30,
    "cross_attn_norm": true,
    "eps": 1e-06,
    "rope_max_seq_len": 1024,
    "attn_mode": "flex",
    "wan_pretrained_path": "robbyant/lingbot-va-base",
    "dtype": "bfloat16",
    "text_encoder_device": "cuda",
    "obs_cam_keys": [
        "observation.images.cam_high",
        "observation.images.cam_left_wrist",
        "observation.images.cam_right_wrist"
    ],
    "image_hflip": false,
    "camera_layout": "width_concat",
    "height": 224,
    "width": 224,
    "action_per_frame": 16,
    "frame_chunk_size": 2,
    "attn_window": 72,
    "num_inference_steps": 25,
    "video_exec_step": -1,
    "action_num_inference_steps": 50,
    "guidance_scale": 5.0,
    "action_guidance_scale": 1.0,
    "snr_shift": 5.0,
    "action_snr_shift": 1.0,
    "max_sequence_length": 512,
    "used_action_channel_ids": [
        21,
        22,
        23,
        24,
        25,
        26,
        27,
        29,
        14,
        15,
        16,
        17,
        18,
        19,
        20,
        28
    ],
    "use_relative_actions": true,
    "relative_exclude_joints": [
        "gripper"
    ],
    "action_feature_names": [
        "right_joint_1.pos",
        "right_joint_2.pos",
        "right_joint_3.pos",
        "right_joint_4.pos",
        "right_joint_5.pos",
        "right_joint_6.pos",
        "right_joint_7.pos",
        "right_gripper.pos",
        "left_joint_1.pos",
        "left_joint_2.pos",
        "left_joint_3.pos",
        "left_joint_4.pos",
        "left_joint_5.pos",
        "left_joint_6.pos",
        "left_joint_7.pos",
        "left_gripper.pos"
    ],
    "save_predicted_video": false,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "IDENTITY",
        "ACTION": "QUANTILES"
    },
    "optimizer_lr": 2e-05,
    "optimizer_betas": [
        0.9,
        0.95
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 0.0001,
    "optimizer_grad_clip_norm": 1.0,
    "scheduler_warmup_steps": 1000,
    "scheduler_type": "constant_with_warmup",
    "action_noisy_cond_prob": 0.2
}