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record_test_flowmatching

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record_test_flowmatching
File size: 1,682 Bytes 
35a4932
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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{
    "type": "flowmatching",
    "n_obs_steps": 1,
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                6
            ]
        },
        "observation.images.laptop": {
            "type": "VISUAL",
            "shape": [
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                480,
                640
            ]
        },
        "observation.images.phone": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                6
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "push_to_hub": true,
    "repo_id": "xhaka3456/record_test_flowmatching",
    "private": null,
    "tags": null,
    "license": null,
    "chunk_size": 50,
    "n_action_steps": 50,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "MEAN_STD",
        "ACTION": "MEAN_STD"
    },
    "max_state_dim": 32,
    "max_action_dim": 32,
    "image_size": [
        224,
        224
    ],
    "empty_cameras": 0,
    "vision_backbone": "vit_b_16",
    "vision_backbone_weights": "ViT_B_16_Weights",
    "pretrained_backbone_weights": "IMAGENET1K_V1",
    "vit_embed_dim": 768,
    "vit_patch_size": 16,
    "hidden_dim": 1024,
    "num_steps": 10,
    "optimizer_lr": 0.0001,
    "optimizer_betas": [
        0.9,
        0.95
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 1e-06,
    "scheduler_warmup_steps": 1000,
    "scheduler_decay_steps": 30000,
    "scheduler_decay_lr": 1e-05
}