| { |
| "type": "act", |
| "n_obs_steps": 1, |
| "normalization_mapping": { |
| "VISUAL": "MEAN_STD", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| }, |
| "input_features": { |
| "observation.images.cam_head": { |
| "type": "VISUAL", |
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| 3, |
| 376, |
| 672 |
| ] |
| }, |
| "observation.images.cam_wrist_left": { |
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| 3, |
| 240, |
| 424 |
| ] |
| }, |
| "observation.images.cam_wrist_right": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 240, |
| 424 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 19 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
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| "shape": [ |
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| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "push_to_hub": false, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "chunk_size": 100, |
| "n_action_steps": 100, |
| "vision_backbone": "resnet18", |
| "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", |
| "replace_final_stride_with_dilation": false, |
| "pre_norm": false, |
| "dim_model": 512, |
| "n_heads": 8, |
| "dim_feedforward": 3200, |
| "feedforward_activation": "relu", |
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| "dropout": 0.1, |
| "kl_weight": 10.0, |
| "optimizer_lr": 1e-05, |
| "optimizer_weight_decay": 0.0001, |
| "optimizer_lr_backbone": 1e-05 |
| } |
