| { | |
| "type": "dit", | |
| "n_obs_steps": 5, | |
| "normalization_mapping": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MIN_MAX", | |
| "ACTION": "MIN_MAX" | |
| }, | |
| "input_features": { | |
| "observation.images.image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.wrist_image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 8 | |
| ] | |
| }, | |
| "observation.state.joint": { | |
| "type": "STATE", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "horizon": 16, | |
| "n_action_steps": 8, | |
| "vision_backbone_size": 18, | |
| "pretrained_backbone_weights": null, | |
| "avg_pool": true, | |
| "vision_backbone_norm_name": "group_norm", | |
| "vision_backbone_norm_num_groups": 16, | |
| "use_spatial_softmax": false, | |
| "vision_backbone": "resnet18", | |
| "crop_shape": null, | |
| "crop_is_random": false, | |
| "use_group_norm": true, | |
| "spatial_softmax_num_keypoints": 32, | |
| "dim_model": 512, | |
| "n_heads": 8, | |
| "dropout": 0.1, | |
| "dim_feedforward": 2048, | |
| "feedforward_activation": "gelu", | |
| "n_encoder_layers": 6, | |
| "n_decoder_layers": 6, | |
| "noise_scheduler_type": "DDIM", | |
| "num_train_timesteps": 100, | |
| "beta_schedule": "squaredcos_cap_v2", | |
| "beta_start": 0.0001, | |
| "beta_end": 0.02, | |
| "prediction_type": "epsilon", | |
| "clip_sample": true, | |
| "set_alpha_to_one": true, | |
| "steps_offset": 0, | |
| "num_inference_steps": 10, | |
| "do_mask_loss_for_padding": false, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_betas": [ | |
| 0.95, | |
| 0.999 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 1e-06, | |
| "optimizer_grad_clip_norm": 10.0, | |
| "scheduler_name": "cosine", | |
| "scheduler_warmup_steps": 500 | |
| } |