| { |
| "type": "act", |
| "n_obs_steps": 1, |
| "normalization_mapping": { |
| "VISUAL": "MEAN_STD", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD", |
| "ENV": "MEAN_STD" |
| }, |
| "input_features": { |
| "observation.right.joint": { |
| "type": "STATE", |
| "shape": [ |
| 8 |
| ] |
| }, |
| "observation.environment.tblock.center.xy": { |
| "type": "ENV", |
| "shape": [ |
| 2 |
| ] |
| }, |
| "observation.environment.tblock.center.xaxis": { |
| "type": "ENV", |
| "shape": [ |
| 3 |
| ] |
| } |
| }, |
| "output_features": { |
| "action.right.joint": { |
| "type": "ACTION", |
| "shape": [ |
| 8 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "chunk_size": 100, |
| "n_action_steps": 10, |
| "vision_backbone": "resnet18", |
| "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", |
| "replace_final_stride_with_dilation": false, |
| "use_segmentation_backbone": false, |
| "segmentation_backbone_type": "robot", |
| "segmentation_backbone_sam_version": "michaelyuanqwq/roboengine-sam", |
| "segmentation_backbone_tokenizer_version": "YxZhang/evf-sam2-multitask", |
| "segmentation_backbone_image_size": 224, |
| "segmentation_backbone_device": "cuda", |
| "segmentation_backbone_instruction": "robot", |
| "segmentation_backbone_feature_dim": 512, |
| "pre_norm": false, |
| "dim_model": 512, |
| "n_heads": 8, |
| "dim_feedforward": 3200, |
| "feedforward_activation": "relu", |
| "n_encoder_layers": 4, |
| "n_decoder_layers": 1, |
| "use_vae": true, |
| "latent_dim": 32, |
| "n_vae_encoder_layers": 4, |
| "temporal_ensemble_coeff": null, |
| "dropout": 0.1, |
| "kl_weight": 10.0, |
| "optimizer_lr": 1e-05, |
| "optimizer_weight_decay": 0.0001, |
| "optimizer_lr_backbone": 1e-05, |
| "freeze_vision_backbone": false, |
| "use_prediction_head": false, |
| "prediction_head_type": "regression", |
| "prediction_head_output_dim": [ |
| 1 |
| ], |
| "prediction_head_hidden_dim": 256, |
| "prediction_head_dropout": 0.1, |
| "prediction_head_loss_weight": [ |
| 1.0 |
| ], |
| "prediction_target_key": [ |
| "prediction_target" |
| ] |
| } |
