scratch_gen_3d / config.json
zaleni's picture
Upload folder using huggingface_hub
725707d verified
Raw
History Blame Contribute Delete
3.29 kB
{
"type": "cubev2",
"n_obs_steps": 1,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
32
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
32
]
}
},
"device": "cuda:0",
"use_amp": false,
"push_to_hub": false,
"repo_id": "lerobot_lab/cubev2",
"private": null,
"tags": null,
"license": null,
"pretrained_path": "/home/jiangjiahao/data/ckpt/cubev2/cubev2-real_lift2-sweep-delta-chunk50-scratch-causal-gen0.01-3d0.01-finetune-2026_05_03_01_29_38/checkpoints/last/pretrained_model",
"qwen3_vl_variant": "qwen3_vl_28l",
"action_expert_variant": "qwen3_28l",
"qwen3_vl_pretrained_path": "/home/jiangjiahao/data/model/Qwen3-VL-2B-Instruct",
"dtype": "bfloat16",
"chunk_size": 50,
"n_action_steps": 50,
"max_state_dim": 32,
"max_action_dim": 32,
"num_inference_steps": 10,
"time_sampling_beta_alpha": 1.5,
"time_sampling_beta_beta": 1.0,
"time_sampling_scale": 0.999,
"time_sampling_offset": 0.001,
"min_period": 0.004,
"max_period": 4.0,
"attention_mask_mode": "causal",
"image_resolution": [
224,
224
],
"empty_cameras": 0,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "IDENTITY",
"ACTION": "IDENTITY"
},
"gradient_checkpointing": false,
"compile_model": false,
"compile_mode": "max-autotune",
"optimizer_lr": 5e-05,
"optimizer_betas": [
0.9,
0.95
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 0.01,
"optimizer_grad_clip_norm": 1.0,
"scheduler_warmup_steps": 1000,
"scheduler_decay_steps": 50000,
"scheduler_decay_lr": 5e-06,
"tokenizer_max_length": 48,
"freeze_vision_encoder": false,
"train_expert_only": false,
"train_vlm_only": false,
"lora_modules": [],
"lora_unselected_mode": "full",
"lora_targets": [
"attn",
"ffn"
],
"lora_rank": 16,
"lora_alpha": 32.0,
"lora_rank_und": null,
"lora_alpha_und": null,
"lora_rank_gen": null,
"lora_alpha_gen": null,
"lora_rank_act": null,
"lora_alpha_act": null,
"lora_dropout": 0.0,
"scale_factor": 8,
"lambda_gen": 0.01,
"cosmos_tokenizer_path_or_name": "/home/jiangjiahao/data/model/Cosmos-Tokenizer-CI8x8",
"enable_3d_queries": true,
"num_3d_query_tokens": 432,
"da3_alignment_mode": "query_decoder",
"da3_query_resampler_layers": 1,
"da3_query_resampler_ff_mult": 1,
"query_layer_indices": [
13,
19,
23,
27
],
"da3_variant": "auto",
"da3_teacher_layers": [
11,
15,
19,
23
],
"da3_query_dim": 2048,
"da3_tokens_per_view": 1296,
"da3_num_views": 3,
"lambda_3d": 0.01,
"da3_model_path_or_name": "/home/jiangjiahao/data/model/DA3-LARGE-1.1",
"da3_model_name": null,
"da3_code_root": null,
"da3_teacher_process_res": 504,
"da3_layer_weights": [
1.0,
1.2,
1.4,
1.6
],
"future_query_init_std": 0.02,
"log_da3_teacher_timing": true
}