| { | |
| "type": "rewind", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.images.front_rgb": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.wrist_rgb": { | |
| "type": "VISUAL", | |
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| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.dinov2.front_rgb": { | |
| "type": "STATE", | |
| "shape": [ | |
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| ] | |
| }, | |
| "observation.dinov2.wrist_rgb": { | |
| "type": "STATE", | |
| "shape": [ | |
| 768 | |
| ] | |
| } | |
| }, | |
| "output_features": {}, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": true, | |
| "repo_id": "chomeed/rewind_peg_insertion", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "d_model": 512, | |
| "vis_emb_dim": 768, | |
| "text_emb_dim": 384, | |
| "n_layers": 4, | |
| "n_heads": 8, | |
| "dropout": 0.1, | |
| "num_cameras": 2, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_betas": [ | |
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| 0.95 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 1e-10, | |
| "optimizer_grad_clip_norm": 10.0, | |
| "scheduler_warmup_steps": 1000, | |
| "scheduler_decay_steps": 5000, | |
| "scheduler_decay_lr": 2.5e-06, | |
| "scheduler_peak_lr": 5e-05, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "LANGUAGE": "IDENTITY", | |
| "REWARD": "IDENTITY" | |
| } | |
| } |