Update config.json
Browse files- config.json +121 -47
config.json
CHANGED
@@ -1,50 +1,124 @@
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],
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"output_normalization_modes": {
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"action": "min_max"
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},
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"output_shapes": {
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"action": [
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]
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},
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"pre_norm": true,
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"predict_every_n": 1,
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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"rescale_shape": [
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480,
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640
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],
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"return_every_n": 1,
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"state_noise": 0.01,
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"train_alpha": 0.99,
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"train_horizon": 150,
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"vision_backbone": "resnet18"
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}
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{
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"type": "dot",
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"n_obs_steps": 3,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MIN_MAX",
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"ENV": "MIN_MAX",
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"ACTION": "MIN_MAX"
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},
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"input_features": {
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"observation.images.top": {
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"type": "VISUAL",
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"shape": [
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]
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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]
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}
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},
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"train_horizon": 150,
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"inference_horizon": 100,
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"lookback_obs_steps": 30,
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"lookback_aug": 5,
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"override_dataset_stats": false,
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"new_dataset_stats": {
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"action": {
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"max": [
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],
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"min": [
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},
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"observation.environment_state": {
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"max": [
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],
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"min": [
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]
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},
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"observation.state": {
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"max": [
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],
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"min": [
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]
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}
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},
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"vision_backbone": "resnet18",
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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"pre_norm": true,
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"lora_rank": 20,
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"merge_lora": false,
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"dim_model": 128,
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"n_heads": 8,
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"dim_feedforward": 512,
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"n_decoder_layers": 8,
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"rescale_shape": [
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"crop_scale": 1.0,
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"state_noise": 0.01,
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"noise_decay": 0.999995,
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"dropout": 0.1,
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"alpha": 0.98,
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"train_alpha": 0.99,
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"predict_every_n": 1,
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"return_every_n": 1,
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"optimizer_lr": 3e-05,
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"optimizer_min_lr": 1e-05,
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"optimizer_lr_cycle_steps": 100000,
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"optimizer_weight_decay": 1e-05
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}
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