| { | |
| "data": { | |
| "exp_name": null, | |
| "robot": "epiclab_franka", | |
| "proprio_len": 2, | |
| "action_len": 4, | |
| "action_dim": 7, | |
| "goal_dim": 6, | |
| "action_rel_len": 0, | |
| "dt_steps": 3, | |
| "tokenizer": null, | |
| "image_transform": null, | |
| "action_token_num": 256, | |
| "img_steps": 1, | |
| "img_key": [ | |
| "front", | |
| "side" | |
| ], | |
| "image_size": null, | |
| "anything_prob": 0.2, | |
| "robot_rep": "xyz_rpy", | |
| "goal_rep": "xyz_rpy", | |
| "tokenizer_type": "ratio_min_max_uniform", | |
| "tokenizer_ratio_limit": 0.01, | |
| "count_num": 10000, | |
| "trans_noise": 0.01, | |
| "rot_noise": 0.05, | |
| "aug_img_config": { | |
| "brightness": 0.2, | |
| "contrast": 0.2, | |
| "saturation": 0.2, | |
| "hue": 0.05 | |
| }, | |
| "brightness_img": "front", | |
| "brightness_threshold": 50.0, | |
| "crop_mode": {}, | |
| "proprio_dim": 7, | |
| "use_bbox": 1, | |
| "pred": null | |
| }, | |
| "model": { | |
| "backbone_2d": { | |
| "name": "dinosiglip", | |
| "image_size": 224 | |
| }, | |
| "llm": { | |
| "name": "internlm/internlm2-1_8b", | |
| "max_len": 2048, | |
| "special_tokens": [], | |
| "pad_multiple_of": 64, | |
| "attn_implementation": "flex_attention" | |
| }, | |
| "ckpt": "latest-checkpoint.pt", | |
| "pred": "cot_flow_matching", | |
| "action_len": 4, | |
| "action_dim": 7, | |
| "proprio_dim": 7, | |
| "action_expert": 1, | |
| "action_expert_cfg": { | |
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| "intermediate_size_scale": 4, | |
| "hidden_size": null, | |
| "intermediate_size": null, | |
| "hidden_act": null | |
| }, | |
| "flow_matching_cfg": { | |
| "beta_alpha": 1.5, | |
| "beta_beta": 1.0, | |
| "time_min": 0.001, | |
| "time_max": 1.0 | |
| } | |
| }, | |
| "dummy": null | |
| } |