| inference: | |
| action_horizon: 32 | |
| num_inference_steps: 10 | |
| robotwin_camera_layout: four_grid_288x384 | |
| image_crop_scale: 0.95 | |
| processor: | |
| norm_default_mode: z-score | |
| use_stepwise_action_norm: false | |
| val_transforms: | |
| - _target_: pixelwam.datasets.lerobot.transforms.image.ToTensor | |
| - _target_: torchvision.transforms.Resize | |
| size: | |
| - 240 | |
| - 320 | |
| model: | |
| mask_scheme: default | |
| proprio_dim: 14 | |
| model_dtype: bf16 | |
| video_scheduler: | |
| infer_shift: 3.0 | |
| num_train_timesteps: 1000 | |
| action_scheduler: | |
| infer_shift: 5.0 | |
| num_train_timesteps: 1000 | |
| model_path: ${oc.env:PIXELWAM_MODEL_PATH} | |
| source_path: ${oc.env:PIXELWAM_SOURCE_PATH} | |
| numerical_mode: legacy_bf16 | |
| joint_layout: legacy | |
| semantic_image_mode: legacy_384 | |
| target_image_mode: mosaic | |
| action_backbone: shared | |
| sdpa_backend: auto | |
| action_dim: 14 | |
| max_action_horizon: 64 | |
| patch_size: 16 | |
| patch_weight_pooling: target_only_global_norm | |
| use_gradient_checkpointing: false | |
| action_prediction_mode: velocity | |
| reference_image_mode: mosaic | |
| copy_gate: | |
| enabled: false | |
| forward_chunk_size: 64 | |
| portable_inference_rope: true | |
| vision_attention_mode: grouped_cached | |
| action_expert_stability_fp32: true | |
| _target_: pixelwam.inference.create_model | |