| { |
| "type": "dit_meanflow", |
| "n_obs_steps": 2, |
| "normalization_mapping": { |
| "VISUAL": "MEAN_STD", |
| "STATE": "MIN_MAX", |
| "ACTION": "MEAN_STD" |
| }, |
| "input_features": { |
| "observation.images.primary": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.state.cartesian": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.state.gripper": { |
| "type": "STATE", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "observation.state.joints": { |
| "type": "STATE", |
| "shape": [ |
| 7 |
| ] |
| }, |
| "observation.state.sensors_ft_sensor": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.state.target": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 26 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "push_to_hub": true, |
| "repo_id": "danielsanjosepro/dit_meanflow_stack_multi_v1", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "horizon": 16, |
| "n_action_steps": 8, |
| "use_proprioceptive": true, |
| "drop_n_last_frames": 7, |
| "vision_backbone": "resnet18", |
| "crop_shape": null, |
| "crop_is_random": false, |
| "pretrained_backbone_weights": null, |
| "use_group_norm": true, |
| "spatial_softmax_num_keypoints": 32, |
| "use_separate_rgb_encoder_per_camera": true, |
| "frequency_embedding_dim": 256, |
| "hidden_dim": 512, |
| "num_blocks": 6, |
| "num_heads": 16, |
| "dropout": 0.1, |
| "dim_feedforward": 4096, |
| "activation": "gelu", |
| "training_noise_sampling": "uniform", |
| "clip_sample": true, |
| "clip_sample_range": 1.0, |
| "num_inference_steps": 100, |
| "do_mask_loss_for_padding": false, |
| "optimizer_lr": 0.0001, |
| "optimizer_betas": [ |
| 0.95, |
| 0.999 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 1e-06, |
| "scheduler_name": "cosine", |
| "scheduler_warmup_steps": 500, |
| "use_meanflow": true, |
| "do_multi_step_sampling": true, |
| "inference_timesteps": 100, |
| "time_distribution": "uniform", |
| "log_norm_mu": -0.4, |
| "log_norm_sigma": 1.0, |
| "use_autograd_functional_jvp": false, |
| "use_adaptative_loss": true, |
| "flow_ratio": 0.5, |
| "cfg_prob": 0.1, |
| "cfg_omega": 2.0, |
| "cfg_w": 2.0, |
| "cfg_kappa": 0.0, |
| "optimizer_grad_clip_norm": 0.5 |
| } |
