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table_rewact_keypoints

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table_rewact_keypoints
File size: 2,097 Bytes 
44f319b
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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{
    "type": "rewact",
    "n_obs_steps": 1,
    "normalization_mapping": {
        "VISUAL": "MEAN_STD",
        "STATE": "MEAN_STD",
        "ACTION": "MEAN_STD"
    },
    "input_features": {
        "image": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "wrist_image": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "left_ego_image": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "state": {
            "type": "STATE",
            "shape": [
                7
            ]
        }
    },
    "output_features": {
        "actions": {
            "type": "ACTION",
            "shape": [
                7
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "push_to_hub": true,
    "repo_id": "shivakanthsujit/table_rewact_keypoints",
    "private": null,
    "tags": null,
    "license": null,
    "chunk_size": 25,
    "n_action_steps": 20,
    "vision_backbone": "resnet18",
    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
    "replace_final_stride_with_dilation": false,
    "pre_norm": false,
    "dim_model": 512,
    "n_heads": 8,
    "dim_feedforward": 3200,
    "feedforward_activation": "relu",
    "n_encoder_layers": 4,
    "n_decoder_layers": 1,
    "use_vae": true,
    "latent_dim": 32,
    "n_vae_encoder_layers": 4,
    "temporal_ensemble_coeff": null,
    "dropout": 0.1,
    "kl_weight": 10.0,
    "optimizer_lr": 1e-05,
    "optimizer_weight_decay": 0.0001,
    "optimizer_lr_backbone": 1e-05,
    "image_keys_str": "image,wrist_image,left_ego_image",
    "image_keys": [
        "image",
        "wrist_image",
        "left_ego_image"
    ],
    "state_key": "state",
    "action_key": "actions",
    "use_reward_head": true,
    "reward_loss_weight": 2.0,
    "use_task_conditioning": true,
    "num_tasks": 10
}