| { |
| "type": "wam", |
| "n_obs_steps": 2, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.images.front": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": "maximellerbach/test_fm", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": "outputs/train/pickandplace_fm/checkpoints/last/pretrained_model", |
| "time_between_frames": 4, |
| "lag_offset": 3, |
| "image_size": [ |
| 256, |
| 256 |
| ], |
| "horizon": 30, |
| "n_action_steps": 30, |
| "autoregressive_steps": 2, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| }, |
| "hidden_dim": 512, |
| "action_head_num_layers": 4, |
| "action_head_num_heads": 8, |
| "action_head_dropout": 0.1, |
| "n_flow_steps": 10, |
| "predictor_num_layers": 6, |
| "predictor_num_heads": 8, |
| "predictor_dropout": 0.1, |
| "predictor_max_tokens": 1024, |
| "optimizer_lr": 5e-05, |
| "optimizer_betas": [ |
| 0.9, |
| 0.999 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 0.01, |
| "optimizer_grad_clip_norm": 1.0, |
| "scheduler_decay_lr": 1e-05, |
| "scheduler_warmup_steps": 500, |
| "scheduler_decay_steps": 5000 |
| } |
