| { | |
| "type": "dic_vla", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.images.image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.image2": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 8 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "push_to_hub": true, | |
| "repo_id": "radiuson/Dic-libero-test", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "chunk_size": 64, | |
| "n_action_steps": 64, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "max_state_dim": 14, | |
| "max_action_dim": 14, | |
| "resize_imgs_with_padding": [ | |
| 512, | |
| 512 | |
| ], | |
| "empty_cameras": 0, | |
| "vlm_model_name": "HuggingFaceTB/SmolVLM-256M-Instruct", | |
| "load_vlm_weights": false, | |
| "num_vlm_layers": 16, | |
| "freeze_vision_encoder": true, | |
| "train_state_proj": true, | |
| "dic_config": "dic-tiny", | |
| "dic_base_channels": null, | |
| "dic_num_groups": null, | |
| "dic_encoder_blocks": null, | |
| "dic_bottleneck_blocks": null, | |
| "dic_decoder_blocks": null, | |
| "dic_dropout": 0.2, | |
| "dic_sparse_skip_stride": 1, | |
| "num_inference_steps": 4, | |
| "min_period": 1.0, | |
| "max_period": 10000.0, | |
| "condition_pooling": "mean", | |
| "condition_dim": null, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_betas": [ | |
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| 0.95 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 1e-06, | |
| "optimizer_grad_clip_norm": 1.0, | |
| "scheduler_warmup_steps": 1000, | |
| "scheduler_decay_steps": 30000, | |
| "scheduler_decay_lr": 1e-06, | |
| "tokenizer_max_length": 48, | |
| "add_image_special_tokens": false, | |
| "prefix_length": -1, | |
| "use_cache": true, | |
| "pad_language_to": "longest", | |
| "adapt_to_pi_aloha": false, | |
| "use_delta_joint_actions_aloha": false | |
| } |