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spa-bench-model-groot-n1-7-full-finetune-epoch-12

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spa-bench-model-groot-n1-7-full-finetune-epoch-12
File size: 2,132 Bytes
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{
  "type": "groot",
  "n_obs_steps": 1,
  "input_features": {
    "observation.images.middle": {
      "type": "VISUAL",
      "shape": [
        3,
        480,
        640
      ]
    },
    "observation.images.wrist": {
      "type": "VISUAL",
      "shape": [
        3,
        480,
        640
      ]
    },
    "observation.state": {
      "type": "STATE",
      "shape": [
        6
      ]
    }
  },
  "output_features": {
    "action": {
      "type": "ACTION",
      "shape": [
        6
      ]
    }
  },
  "device": "cuda",
  "use_amp": false,
  "use_peft": false,
  "push_to_hub": true,
  "repo_id": "Spa-Bench/spa-bench-model-groot-n1-7-full-finetune-epoch-12",
  "private": null,
  "tags": null,
  "license": null,
  "pretrained_path": null,
  "pretrained_revision": null,
  "chunk_size": 16,
  "n_action_steps": 16,
  "max_state_dim": 132,
  "max_action_dim": 132,
  "normalization_mapping": {
    "VISUAL": "IDENTITY",
    "STATE": "IDENTITY",
    "ACTION": "IDENTITY"
  },
  "base_model_path": "nvidia/GR00T-N1.7-3B",
  "action_decode_transform": null,
  "embodiment_tag": "new_embodiment",
  "tune_llm": true,
  "tune_visual": true,
  "tune_projector": true,
  "tune_diffusion_model": true,
  "tune_vlln": true,
  "tune_top_llm_layers": 0,
  "num_inference_timesteps": null,
  "rtc_ramp_rate": null,
  "use_flash_attention": false,
  "use_relative_actions": false,
  "relative_exclude_joints": [],
  "optimizer_lr": 1e-05,
  "optimizer_betas": [
    0.9,
    0.999
  ],
  "optimizer_eps": 1e-08,
  "optimizer_weight_decay": 1e-05,
  "warmup_ratio": 0.05,
  "use_bf16": true,
  "model_params_fp32": true,
  "image_size": [
    256,
    256
  ],
  "tokenizer_assets_repo": null,
  "lora_rank": 0,
  "lora_alpha": 16,
  "lora_dropout": 0.1,
  "lora_full_model": false,
  "video_backend": "decord",
  "balance_dataset_weights": true,
  "balance_trajectory_weights": true,
  "dataset_paths": null,
  "output_dir": "./outputs/spa-bench-model-groot-n1-7-full-finetune-epoch-12",
  "save_steps": 1000,
  "max_steps": 76596,
  "batch_size": 32,
  "dataloader_num_workers": 8,
  "report_to": null,
  "resume": false
}