| { | |
| "type": "act", | |
| "n_obs_steps": 1, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 7 | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.webcam": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "chunk_size": 100, | |
| "n_action_steps": 100, | |
| "vision_backbone": "ProtoSAM", | |
| "pretrained_backbone_weights": "weights/FastSAM-s.pt", | |
| "proto_indices": [ | |
| 3, | |
| 5, | |
| 6, | |
| 8, | |
| 19, | |
| 31, | |
| 21 | |
| ], | |
| "freeze_backbone": true, | |
| "replace_final_stride_with_dilation": false, | |
| "pre_norm": false, | |
| "dim_model": 448, | |
| "n_heads": 8, | |
| "dim_feedforward": 3200, | |
| "feedforward_activation": "relu", | |
| "n_encoder_layers": 4, | |
| "n_decoder_layers": 1, | |
| "use_vae": true, | |
| "latent_dim": 32, | |
| "n_vae_encoder_layers": 4, | |
| "use_depth_transform": false, | |
| "temporal_ensemble_coeff": null, | |
| "dropout": 0.1, | |
| "kl_weight": 10.0, | |
| "optimizer_lr": 1e-05, | |
| "optimizer_weight_decay": 0.0001, | |
| "optimizer_lr_backbone": 1e-05 | |
| } |