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omx_multicubes_lawam

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omx_multicubes_lawam
File size: 3,518 Bytes
352484b
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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{
    "type": "lawam",
    "n_obs_steps": 1,
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                6
            ]
        },
        "observation.images.wrist": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        },
        "observation.images.top": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                6
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": true,
    "repo_id": "maximellerbach/omx_multicubes_lawam",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "pretrained_revision": null,
    "chunk_size": 30,
    "n_action_steps": 30,
    "num_video_frames": 2,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "MIN_MAX",
        "ACTION": "MIN_MAX"
    },
    "base_vlm": "Qwen/Qwen3-VL-2B-Instruct",
    "lam_ckpt_path": "/fsx/maxime_ellerbach/ckpts/lawam_lam/checkpoints/pytorch_model.pt",
    "lam_yaml_path": "/fsx/maxime_ellerbach/robots/runs/lawam/review_pr3999/dino_large_vae_localdinov3.yaml",
    "hf_cache_dir": null,
    "lawam_checkpoint_path": null,
    "lawam_dataset_stats_path": null,
    "lawam_unnorm_key": null,
    "primary_image_features": [
        "observation.images.top"
    ],
    "wrist_image_features": [
        "observation.images.wrist"
    ],
    "default_task": "Execute the robot action.",
    "action_hz": 30.0,
    "embodiment_id": 25,
    "enable_primary_video_aug": false,
    "enable_primary_random_resized_crop": false,
    "guidance_scale": null,
    "num_inference_steps": null,
    "latent_action_placeholder_token": "<ACT_PH>",
    "num_action_queries": 8,
    "flow_action_num_queries": 8,
    "perceptual_weight": 0.1,
    "lam_encoder_distill_weight": 0.1,
    "enable_loss_distill": true,
    "future_prediction": true,
    "detach_future_feature": true,
    "repeated_diffusion_steps": 2,
    "flow_action_dim": 32,
    "flow_state_dim": 32,
    "flow_hidden_dim": 1024,
    "flow_num_layers": 16,
    "flow_attention_heads": 16,
    "flow_vlm_dim": 2048,
    "flow_vision_dim": 768,
    "flow_num_vision_tokens": 256,
    "flow_num_target_vision_tokens": -1,
    "flow_use_state": false,
    "flow_num_embodiments": 32,
    "flow_horizon_sec": 1.0,
    "flow_cfg_drop_prob": 0.0,
    "flow_cfg_guidance_scale": 1.0,
    "flow_num_inference_steps": 10,
    "flow_num_timestep_buckets": 1000,
    "flow_interleave_self_attention": true,
    "flow_use_alternate_vldit": true,
    "flow_attend_text_every_n_blocks": 2,
    "flow_noise_beta_alpha": 1.5,
    "flow_noise_beta_beta": 1.0,
    "flow_noise_s": 0.999,
    "flow_token_independent_noise": false,
    "flow_use_action_positional_embeddings": true,
    "clip_normalized_actions": true,
    "pre_snap_gripper_action": true,
    "binarize_gripper_action": true,
    "gripper_dim": 6,
    "gripper_threshold": 0.5,
    "optimizer_lr": 0.0001,
    "optimizer_betas": [
        0.9,
        0.95
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 1e-08,
    "optimizer_grad_clip_norm": 1.0,
    "scheduler_warmup_steps": 1500,
    "scheduler_decay_steps": 30000,
    "scheduler_decay_lr": 5e-07
}