| { |
| "type": "dot", |
| "n_obs_steps": 3, |
| "normalization_mapping": { |
| "VISUAL": "MEAN_STD", |
| "STATE": "MIN_MAX", |
| "ENV": "MIN_MAX", |
| "ACTION": "MIN_MAX" |
| }, |
| "input_features": { |
| "observation.images.top": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 14 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 14 |
| ] |
| } |
| }, |
| "train_horizon": 75, |
| "inference_horizon": 50, |
| "lookback_obs_steps": 20, |
| "lookback_aug": 5, |
| "override_dataset_stats": false, |
| "new_dataset_stats": { |
| "action": { |
| "max": [ |
| 512.0, |
| 512.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0 |
| ] |
| }, |
| "observation.environment_state": { |
| "max": [ |
| 512.0, |
| 512.0, |
| 512.0, |
| 512.0, |
| 512.0, |
| 512.0, |
| 512.0, |
| 512.0, |
| 512.0, |
| 512.0, |
| 512.0, |
| 512.0, |
| 512.0, |
| 512.0, |
| 512.0, |
| 512.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| }, |
| "observation.state": { |
| "max": [ |
| 512.0, |
| 512.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "vision_backbone": "resnet18", |
| "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", |
| "pre_norm": true, |
| "lora_rank": 20, |
| "merge_lora": false, |
| "dim_model": 128, |
| "n_heads": 8, |
| "dim_feedforward": 512, |
| "n_decoder_layers": 8, |
| "rescale_shape": [ |
| 480, |
| 640 |
| ], |
| "crop_scale": 0.8, |
| "state_noise": 0.01, |
| "noise_decay": 0.999995, |
| "dropout": 0.1, |
| "alpha": 0.98, |
| "train_alpha": 0.99, |
| "predict_every_n": 1, |
| "return_every_n": 1, |
| "optimizer_lr": 0.0001, |
| "optimizer_min_lr": 0.0001, |
| "optimizer_lr_cycle_steps": 100000, |
| "optimizer_weight_decay": 1e-05 |
| } |
