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vqbet_pusht / config.json
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{
"n_obs_steps": 5,
"n_action_pred_token": 7,
"action_chunk_size": 5,
"input_shapes": {
"observation.image": [
3,
96,
96
],
"observation.state": [
2
]
},
"output_shapes": {
"action": [
2
]
},
"input_normalization_modes": {
"observation.image": "mean_std",
"observation.state": "min_max"
},
"output_normalization_modes": {
"action": "min_max"
},
"vision_backbone": "resnet18",
"crop_shape": [
84,
84
],
"crop_is_random": true,
"pretrained_backbone_weights": null,
"use_group_norm": true,
"spatial_softmax_num_keypoints": 32,
"n_vqvae_training_steps": 20000,
"vqvae_n_embed": 16,
"vqvae_embedding_dim": 256,
"vqvae_enc_hidden_dim": 128,
"gpt_block_size": 500,
"gpt_input_dim": 512,
"gpt_output_dim": 512,
"gpt_n_layer": 8,
"gpt_n_head": 8,
"gpt_hidden_dim": 512,
"dropout": 0.1,
"mlp_hidden_dim": 1024,
"offset_loss_weight": 10000.0,
"primary_code_loss_weight": 5.0,
"secondary_code_loss_weight": 0.5,
"bet_softmax_temperature": 0.1,
"sequentially_select": false
}