| { |
| "type": "dit_moe", |
| "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": true, |
| "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, |
| "only_expand_on_transformer_encoder": true, |
| "num_expandable_network_each_layer": [ |
| 1, |
| 1, |
| 1, |
| 1, |
| 1, |
| 1 |
| ], |
| "threshold": 0.0, |
| "autoencoder_hidden_dim": 256, |
| "autoencoder_latent_dim": 128, |
| "moe_only_on_transformer_encoder": true, |
| "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, |
| "num_learned_tasks": 0 |
| } |
