| { |
| "type": "act", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.images.realsense1": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.realsense2": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.gelsight1": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 375, |
| 500 |
| ] |
| }, |
| "observation.images.gelsight2": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 375, |
| 500 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 26 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 26 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": false, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "chunk_size": 60, |
| "n_action_steps": 60, |
| "normalization_mapping": { |
| "VISUAL": "MEAN_STD", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| }, |
| "vision_backbone": "resnet18", |
| "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", |
| "replace_final_stride_with_dilation": false, |
| "pre_norm": false, |
| "dim_model": 512, |
| "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, |
| "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, |
| "use_finger_tactile_encoder": false, |
| "thumb_tactile_key": "observation.images.gelsight2", |
| "index_tactile_key": "observation.images.gelsight1", |
| "thumb_state_indices": [ |
| 6, |
| 7, |
| 8, |
| 9 |
| ], |
| "index_state_indices": [ |
| 10, |
| 11, |
| 12, |
| 13 |
| ], |
| "tactile_keep_spatial_tokens": false, |
| "drop_finger_dims_from_state_token": false |
| } |
