| { |
| "type": "factr", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.images.front": { |
| "type": "VISUAL", |
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| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.wrist": { |
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| 3, |
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| 640 |
| ] |
| }, |
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| 64 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
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| 7 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": "robot-lev/factr-insert-netft-vae64", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "chunk_size": 100, |
| "n_action_steps": 100, |
| "normalization_mapping": { |
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| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
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| "vit_model": "vit_base_patch16", |
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| "vit_pretrained_weights": "SOUP_1M_DH", |
| "vit_embed_dim": 768, |
| "vit_drop_path_rate": 0.0, |
| "use_obs": "add_token", |
| "share_cam_features": false, |
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| "feat_norm": "layer_norm", |
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| "n_decoder_layers": 6, |
| "feedforward_activation": "relu", |
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| "curriculum_space": "pixel", |
| "curriculum_operator": "blur", |
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| "optimizer_lr": 0.0003, |
| "optimizer_weight_decay": 0.05, |
| "optimizer_layer_decay": 0.75, |
| "scheduler_num_warmup_steps": 250 |
| } |
