| { |
| "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" |
| } |
| } |
