| { | |
| "type": "prana_v3", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "observation.images.table": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 6 | |
| ] | |
| } | |
| }, | |
| "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": 50, | |
| "n_action_steps": 40, | |
| "inpaint_steps": 10, | |
| "hidden_dim": 256, | |
| "n_heads": 8, | |
| "dim_feedforward": 512, | |
| "n_encoder_layers": 4, | |
| "n_decoder_layers": 7, | |
| "dropout": 0.1, | |
| "num_denoise_steps": 10, | |
| "noise_beta": 0.5, | |
| "time_sampling_alpha": 1.5, | |
| "time_sampling_beta": 1.0, | |
| "use_delta_actions": true, | |
| "use_per_timestamp_norm": true, | |
| "freeze_backbone": true, | |
| "unfreeze_last_n_blocks": 0, | |
| "camera_order": [ | |
| "observation.images.table", | |
| "observation.images.wrist" | |
| ], | |
| "normalization_mapping": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_weight_decay": 0.0001 | |
| } |