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MINT-light-zero

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MINT-light-zero
File size: 2,817 Bytes
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{
    "type": "mint_light",
    "n_obs_steps": 1,
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                8
            ]
        },
        "observation.images.image": {
            "type": "VISUAL",
            "shape": [
                3,
                128,
                128
            ]
        },
        "observation.images.image2": {
            "type": "VISUAL",
            "shape": [
                3,
                128,
                128
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                7
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": false,
    "repo_id": null,
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "chunk_size": 16,
    "action_history_steps": 0,
    "n_action_steps": 4,
    "max_state_dim": 32,
    "max_action_dim": 7,
    "image_resolution": [
        224,
        224
    ],
    "hidden_dim": 384,
    "num_layers": 10,
    "num_heads": 6,
    "head_dim": 64,
    "mlp_hidden_dim": 1024,
    "attention_dropout": 0.0,
    "ffn_dropout": 0.05,
    "drop_path_rate": 0.0,
    "cross_attention_every": 2,
    "vision_backbone_id": "dinov3-vit-l-224px",
    "vision_pretrained": true,
    "use_language": false,
    "language_model_name": "google/siglip2-so400m-patch14-224",
    "language_pretrained": true,
    "tokenizer_max_length": 64,
    "state_hidden_dim": 128,
    "start_query_hidden_dim": 384,
    "classifier_hidden_dim": 384,
    "ema_decay": 0.999,
    "sample_top_k": 3,
    "intent_ensemble": true,
    "intent_ensemble_temperature": 0.5,
    "intent_ensemble_decay": 0.03,
    "codebook_size": 512,
    "codebook_dim": 32,
    "patch_nums": [
        1,
        2,
        4
    ],
    "vqvae_name_or_path": "/inspire/qb-ilm/project/robot-decision/huangrenming-253108120148/MINT/outputs/sdat/h_16_bs_256_cbs_512_cbd_32_ch_48/2026-06-19-03-12-57/vae-ckpt-40.pth",
    "vqvae_ch": 48,
    "vqvae_ch_mult": [
        2,
        4,
        8
    ],
    "vqvae_dropout": 0.1,
    "vqvae_beta": 0.25,
    "vqvae_using_znorm": true,
    "vqvae_quant_conv_ks": 3,
    "vqvae_quant_resi": 0.5,
    "vqvae_share_quant_resi": 0,
    "vqvae_patchwise": {
        "enable": true,
        "d_embed": 8,
        "grouped_depth": 2,
        "norm": "layer"
    },
    "optimizer_lr": 0.0003,
    "optimizer_weight_decay": 0.005,
    "optimizer_grad_clip_norm": 2.0,
    "scheduler_warmup_steps": 1000,
    "scheduler_decay_steps": 100000,
    "scheduler_decay_lr": 9e-05,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "QUANTILES",
        "ACTION": "IDENTITY"
    }
}