| { |
| "n_obs_steps": 2, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "horizon": 16, |
| "n_action_steps": 8, |
| "normalization_mapping": "{'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MIN_MAX: 'MIN_MAX'>, 'ACTION': <NormalizationMode.MIN_MAX: 'MIN_MAX'>}", |
| "drop_n_last_frames": 7, |
| "vision_backbone": "resnet18", |
| "resize_shape": null, |
| "crop_ratio": 1.0, |
| "crop_shape": [ |
| 115, |
| 115 |
| ], |
| "crop_is_random": true, |
| "pretrained_backbone_weights": null, |
| "use_group_norm": true, |
| "spatial_softmax_num_keypoints": 32, |
| "use_separate_rgb_encoder_per_camera": true, |
| "down_dims": [ |
| 512, |
| 1024, |
| 2048 |
| ], |
| "kernel_size": 5, |
| "n_groups": 8, |
| "diffusion_step_embed_dim": 128, |
| "use_film_scale_modulation": true, |
| "noise_scheduler_type": "DDPM", |
| "num_train_timesteps": 100, |
| "beta_schedule": "squaredcos_cap_v2", |
| "beta_start": 0.0001, |
| "beta_end": 0.02, |
| "prediction_type": "epsilon", |
| "clip_sample": true, |
| "clip_sample_range": 1.0, |
| "num_inference_steps": 100, |
| "compile_model": false, |
| "compile_mode": "reduce-overhead", |
| "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, |
| "scheduler_name": "cosine", |
| "scheduler_warmup_steps": 500, |
| "image_size": 128, |
| "cams": [ |
| "observation.images.image", |
| "observation.images.wrist_image" |
| ], |
| "task_names": [ |
| "push the flat plate to the edge of the table", |
| "pick up the flat plate from the edge of the table", |
| "pick up the cube from the table" |
| ] |
| } |
