| { |
| "type": "sarm", |
| "n_obs_steps": 8, |
| "input_features": { |
| "observation.images.cam_high": { |
| "type": "VISUAL", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 32 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 14 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "push_to_hub": true, |
| "repo_id": "useless", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "annotation_mode": "dual", |
| "frame_gap": 30, |
| "max_rewind_steps": 4, |
| "image_dim": 512, |
| "text_dim": 512, |
| "hidden_dim": 768, |
| "num_heads": 12, |
| "num_layers": 8, |
| "max_state_dim": 32, |
| "drop_n_last_frames": 1, |
| "batch_size": 64, |
| "clip_batch_size": 64, |
| "dropout": 0.1, |
| "stage_loss_weight": 1.0, |
| "rewind_probability": 0.8, |
| "language_perturbation_probability": 0.2, |
| "num_sparse_stages": 3, |
| "sparse_subtask_names": [ |
| "Flatten the tshirt out", |
| "fold the tshirt", |
| "put folded tshirt to the right side" |
| ], |
| "sparse_temporal_proportions": [ |
| 0.42229928493207264, |
| 0.4390527818761901, |
| 0.13864793319173732 |
| ], |
| "num_dense_stages": 8, |
| "dense_subtask_names": [ |
| "Move arms from starting position to the workspace", |
| "manipulate the fabric to reveal the hem", |
| "grasp the bottom corners and flick forward to flatten the tshirt", |
| "grasp the armpit areas and fold the upper half forward", |
| "fold the sleeves inward", |
| "grasp the bottom hem to fold the tshirt vertically", |
| "grasp the right side to fold it horizontally", |
| "pick up the folded tshirt and move it to the right side" |
| ], |
| "dense_temporal_proportions": [ |
| 0.04753523919499561, |
| 0.27640619776466735, |
| 0.10446237491517536, |
| 0.09002541761368966, |
| 0.12282106557613906, |
| 0.13770028217609287, |
| 0.08866373242394851, |
| 0.13238569033529157 |
| ], |
| "pretrained_model_path": null, |
| "image_key": "observation.images.cam_high", |
| "state_key": "observation.state", |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "LANGUAGE": "IDENTITY", |
| "REWARD": "IDENTITY" |
| } |
| } |
