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pushT_BC

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pushT_BC
File size: 1,074 Bytes
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{
    "type": "bc",
    "n_obs_steps": 2,
    "input_features": {
        "observation.image": {
            "type": "VISUAL",
            "shape": [
                3,
                96,
                96
            ]
        },
        "observation.state": {
            "type": "STATE",
            "shape": [
                2
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                2
            ]
        }
    },
    "device": "cuda",
    "use_amp": true,
    "push_to_hub": false,
    "repo_id": null,
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "horizon": 16,
    "n_action_steps": 8,
    "hidden_dim": 512,
    "normalization_mapping": {
        "VISUAL": "MEAN_STD",
        "ACTION": "MIN_MAX"
    },
    "optimizer_lr": 0.0001,
    "optimizer_betas": [
        0.95,
        0.999
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 1e-06,
    "scheduler_name": "cosine",
    "scheduler_warmup_steps": 500
}