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patch_policy_libero10_tipsv2_token_cache_pool2

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patch_policy_libero10_tipsv2_token_cache_pool2
File size: 2,003 Bytes
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{
    "type": "patch_policy",
    "n_obs_steps": 2,
    "input_features": {
        "observation.images.image": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "observation.images.wrist_image": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "observation.state": {
            "type": "STATE",
            "shape": [
                8
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                7
            ]
        }
    },
    "device": "cuda",
    "dtype": null,
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": true,
    "repo_id": "aDaikiKamata/patch_policy_libero10_tipsv2_token_cache_pool2",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "pretrained_revision": null,
    "horizon": 16,
    "n_action_steps": 3,
    "encoder_type": "tipsv2",
    "encoder_model_id": "google/tipsv2-b14",
    "image_size": 224,
    "language_conditioning": true,
    "language_conditioning_mode": "token",
    "encoder_autocast_dtype": "bfloat16",
    "feature_cache": true,
    "feature_cache_verify": false,
    "patch_pool": 2,
    "head_autocast_dtype": "bfloat16",
    "n_layer": 8,
    "n_head": 4,
    "n_embd": 256,
    "p_drop_emb": 0.0,
    "p_drop_attn": 0.1,
    "num_train_timesteps": 100,
    "beta_schedule": "squaredcos_cap_v2",
    "prediction_type": "epsilon",
    "clip_sample": true,
    "num_inference_steps": null,
    "optimizer_lr": 0.0001,
    "optimizer_weight_decay": 0.0,
    "scheduler_name": "cosine",
    "scheduler_warmup_steps": 1000,
    "use_ema": true,
    "ema_power": 0.75,
    "ema_max_decay": 0.9999,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "MIN_MAX",
        "ACTION": "MIN_MAX"
    }
}