| { |
| "type": "dita", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.images.image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_peft": false, |
| "push_to_hub": false, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "dataset_suite": "libero_10_no_noops", |
| "num_layers": 12, |
| "traj_length": 11, |
| "dropout_rate": 0.0, |
| "freeze_backbone": false, |
| "use_qformer": true, |
| "prediction_type": "epsilon", |
| "attn_implementation": "eager", |
| "num_inference_steps": 10, |
| "tokenizer_max_length": 77, |
| "image_resolution": [ |
| 224, |
| 224 |
| ], |
| "chunk_size": 10, |
| "n_action_steps": 1, |
| "history_frames": 2, |
| "gripper_threshold": 0.5, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "ACTION": "QUANTILES", |
| "LANGUAGE": "IDENTITY" |
| }, |
| "optimizer_lr": 0.0005, |
| "optimizer_betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 0.05, |
| "optimizer_grad_clip_norm": 0.0, |
| "dtype": "float16", |
| "gripper_mode": "binary", |
| "gradient_checkpointing": true, |
| "optimizer_backbone_lr_scale": 0.1, |
| "scheduler_warmup_steps": 1000, |
| "scheduler_decay_steps": 100000, |
| "scheduler_min_lr_scale": 0.01, |
| "lora_dropout": 0.0, |
| "image_preprocessing_device": "cpu" |
| } |
|
|
