fm-refactor-test / config.json
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{
"type": "flow_matching",
"n_obs_steps": 2,
"input_features": {
"observation.images.image": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.images.image2": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.state": {
"type": "STATE",
"shape": [
8
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
7
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": "fm-refactor-test",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"horizon": 16,
"n_action_steps": 8,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"drop_n_last_frames": 7,
"vision_backbone": "resnet18",
"vision_encoder": "spatial_softmax",
"resize_shape": null,
"crop_ratio": 0.8,
"crop_shape": [
204,
204
],
"crop_is_random": true,
"pretrained_backbone_weights": null,
"use_group_norm": true,
"spatial_softmax_num_keypoints": 32,
"use_separate_rgb_encoder_per_camera": false,
"backbone": "transformer",
"down_dims": [
256,
512,
1024
],
"kernel_size": 5,
"n_groups": 8,
"diffusion_step_embed_dim": 256,
"use_film_scale_modulation": true,
"transformer_d_model": 256,
"transformer_n_heads": 4,
"transformer_n_layers": 4,
"transformer_dropout": 0.1,
"sigma": 0.0,
"num_inference_steps": 10,
"ode_solver": "euler",
"delta_actions": false,
"use_optimal_transport": false,
"clip_sample": false,
"clip_sample_range": 1.0,
"compile_model": false,
"compile_mode": "reduce-overhead",
"do_mask_loss_for_padding": false,
"optimizer_lr": 0.0001,
"optimizer_betas": [
0.95,
0.999
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 1e-06,
"scheduler_name": "cosine",
"scheduler_warmup_steps": 500
}