| { |
| "model_type": "depthworld", |
| "code_repository": "https://github.com/Jai2500/depthworld", |
| "base_model": "stabilityai/stable-video-diffusion-img2vid", |
| "text_encoder": "openai/clip-vit-base-patch32", |
| "action_space": "cartesian", |
| "action_dim": 7, |
| "num_history": 6, |
| "pred_step": 5, |
| "history_idx": [0, 0, -12, -9, -6, -3], |
| "views": ["ext1", "ext2", "wrist"], |
| "per_view_image_size": [192, 320], |
| "horiz_image_size": [576, 640], |
| "horiz_latent_size": [4, 72, 80], |
| "fps": 5, |
| "depth_encoding": { |
| "type": "log_close_bright", |
| "ranges_m": { |
| "ext1": [0.3, 3.3], |
| "ext2": [0.3, 3.3], |
| "wrist": [0.07, 2.0] |
| } |
| }, |
| "checkpoints": { |
| "horiz_90k_ema.pt": { |
| "model_class": "CrtlWorld", |
| "pointmap_head": null, |
| "train_steps": 90000, |
| "ema": true |
| }, |
| "horiz_dpt_vggt_90k_ema.pt": { |
| "model_class": "CrtlWorldPointmap", |
| "pointmap_head": "DPTPointMapDecoder", |
| "pointmap_dpt_init": "vggt", |
| "pointmap_loss_weight": 0.005, |
| "warm_start": "horiz 40k", |
| "train_steps": 90000, |
| "ema": true |
| } |
| } |
| } |
|
|
