| { | |
| "type": "sarm", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 16 | |
| ] | |
| }, | |
| "observation.images.left_wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.right_wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.base": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 16 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "push_to_hub": true, | |
| "repo_id": "pepijn223/sarm", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "image_dim": 512, | |
| "num_frames": 9, | |
| "frame_gap": 30, | |
| "text_dim": 384, | |
| "state_dim": 16, | |
| "use_joint_state": true, | |
| "hidden_dim": 768, | |
| "num_heads": 12, | |
| "num_layers": 8, | |
| "num_stages": 5, | |
| "max_length": 9, | |
| "use_temporal_sampler": true, | |
| "sampling_mode": "sarm", | |
| "batch_size": 64, | |
| "clip_batch_size": 64, | |
| "gradient_checkpointing": false, | |
| "dropout": 0.1, | |
| "enable_rabc": false, | |
| "rabc_kappa": 0.01, | |
| "rabc_epsilon": 1e-06, | |
| "chunk_length": 25, | |
| "pretrained_model_path": null, | |
| "image_key": "observation.images.base", | |
| "task_description": "perform the task", | |
| "encode_on_the_fly": true, | |
| "use_dataset_task": true | |
| } |