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dit-libero-spatial

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dit-libero-spatial
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177fbae
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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{
    "type": "multi_task_dit",
    "n_obs_steps": 2,
    "input_features": {
        "observation.images.image": {
            "type": "VISUAL",
            "shape": [
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            ]
        },
        "observation.images.image2": {
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            ]
        },
        "observation.state": {
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            ]
        }
    },
    "output_features": {
        "action": {
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            ]
        }
    },
    "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",
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    "prediction_type": "epsilon",
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    "clip_sample_range": 1.0,
    "num_inference_steps": null,
    "sigma_min": 0.0,
    "num_integration_steps": 100,
    "integration_method": "euler",
    "timestep_sampling_strategy": "beta",
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    "timestep_sampling_alpha": 1.5,
    "timestep_sampling_beta": 1.0,
    "hidden_dim": 512,
    "num_layers": 8,
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    "qformer_hidden_dim": 512,
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    "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": [
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    "image_crop_shape": [
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    "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"
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    "optimizer_lr": 0.0003,
    "optimizer_betas": [
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    ],
    "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,
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    "robust_noise_std": 0.08,
    "robust_patch_noise_prob": 0.5,
    "robust_patch_noise_ratio": [
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    "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": [
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    ],
    "robust_vertical_flip_prob": 0.25,
    "drop_n_last_frames": 21
}