Upload config.json with huggingface_hub
Browse files- config.json +62 -0
config.json
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{
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"type": "flow_matching",
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"n_obs_steps": 2,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MIN_MAX",
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"ACTION": "MIN_MAX"
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},
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"input_features": {
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"observation.state": {
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"type": "STATE",
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"shape": [
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16
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]
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},
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"observation.images.head_camera": {
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"type": "VISUAL",
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"shape": [
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3,
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224,
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224
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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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16
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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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"push_to_hub": true,
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"repo_id": null,
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"private": null,
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"tags": null,
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"license": null,
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"horizon": 16,
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"n_action_steps": 8,
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"drop_n_last_frames": 7,
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"vision_backbone": "resnet18",
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"crop_shape": null,
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"crop_is_random": true,
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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"use_group_norm": true,
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"spatial_softmax_num_keypoints": 32,
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"use_separate_rgb_encoder_per_camera": false,
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"backbone_lr": 3e-05,
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"num_inference_steps": 10,
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"do_mask_loss_for_padding": false,
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"optimizer_lr": 0.0003,
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"optimizer_betas": [
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0.95,
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0.999
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 1e-06,
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"scheduler_name": "cosine",
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"scheduler_warmup_steps": 500
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}
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