dit-libero-all / config.json
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{
"type": "multi_task_dit",
"n_obs_steps": 2,
"input_features": {
"observation.images.image": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.images.image2": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.state": {
"type": "STATE",
"shape": [
8
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
7
]
}
},
"device": "cuda",
"use_amp": true,
"use_peft": false,
"push_to_hub": false,
"repo_id": null,
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"horizon": 32,
"n_action_steps": 10,
"objective": "diffusion",
"noise_scheduler_type": "DDPM",
"num_train_timesteps": 100,
"beta_schedule": "squaredcos_cap_v2",
"beta_start": 0.0001,
"beta_end": 0.02,
"prediction_type": "epsilon",
"clip_sample": true,
"clip_sample_range": 1.0,
"num_inference_steps": null,
"sigma_min": 0.0,
"num_integration_steps": 100,
"integration_method": "euler",
"timestep_sampling_strategy": "beta",
"timestep_sampling_s": 0.999,
"timestep_sampling_alpha": 1.5,
"timestep_sampling_beta": 1.0,
"hidden_dim": 512,
"num_layers": 8,
"num_heads": 8,
"dropout": 0.1,
"modality_dropout_prob": 0.1,
"modality_weight_entropy_reg_weight": 0.0,
"modality_weight_balance_reg_weight": 0.0,
"use_positional_encoding": false,
"timestep_embed_dim": 128,
"use_rope": true,
"rope_base": 10000.0,
"qformer_num_queries": 8,
"qformer_hidden_dim": 512,
"qformer_num_layers": 2,
"qformer_num_heads": 8,
"qformer_dropout": 0.1,
"vision_encoder_name": "openai/clip-vit-base-patch16",
"use_separate_rgb_encoder_per_camera": false,
"vision_encoder_lr_multiplier": 0.1,
"image_resize_shape": [
256,
256
],
"image_crop_shape": [
224,
224
],
"image_crop_is_random": true,
"robot_state_embed_dim": 128,
"text_embed_dim": 128,
"text_encoder_name": "openai/clip-vit-base-patch16",
"tokenizer_max_length": 77,
"tokenizer_padding": "max_length",
"tokenizer_padding_side": "right",
"tokenizer_truncation": true,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MIN_MAX",
"ACTION": "MIN_MAX"
},
"optimizer_lr": 0.0003,
"optimizer_betas": [
0.95,
0.999
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 1e-06,
"scheduler_name": "cosine",
"scheduler_warmup_steps": 500,
"do_mask_loss_for_padding": false,
"robust_adapter_training": false,
"robust_adapter_hidden_dim": 512,
"robust_adapter_num_queries": 4,
"robust_adapter_dropout": 0.0,
"robust_feature_loss_weight": 1.0,
"robust_action_loss_weight": 1.0,
"robust_clean_action_loss_weight": 0.0,
"robust_noise_std": 0.08,
"robust_patch_noise_prob": 0.5,
"robust_patch_noise_ratio": [
0.12,
0.35
],
"robust_high_freq_prob": 0.5,
"robust_photometric_prob": 0.5,
"robust_brightness": 0.4,
"robust_contrast": 0.5,
"robust_saturation": 0.6,
"robust_hue": 0.15,
"robust_affine_prob": 0.5,
"robust_affine_max_degrees": 15.0,
"robust_affine_max_translate": 0.1,
"robust_affine_scale": [
0.9,
1.1
],
"robust_vertical_flip_prob": 0.25,
"drop_n_last_frames": 21
}