Upload policy
Browse files- config.json +83 -0
- model.safetensors +3 -0
config.json
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{
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"type": "act",
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"n_obs_steps": 1,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD",
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"ENV": "MEAN_STD"
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},
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"input_features": {
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"observation.right.joint": {
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"type": "STATE",
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"shape": [
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8
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]
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},
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"observation.environment.tblock.center.xy": {
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"type": "ENV",
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"shape": [
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2
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]
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},
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"observation.environment.tblock.center.xaxis": {
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"type": "ENV",
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"shape": [
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3
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]
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}
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},
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"output_features": {
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"action.right.joint": {
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"type": "ACTION",
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"shape": [
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8
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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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"chunk_size": 100,
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"n_action_steps": 10,
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"vision_backbone": "resnet18",
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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"replace_final_stride_with_dilation": false,
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"use_segmentation_backbone": false,
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"segmentation_backbone_type": "robot",
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"segmentation_backbone_sam_version": "michaelyuanqwq/roboengine-sam",
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"segmentation_backbone_tokenizer_version": "YxZhang/evf-sam2-multitask",
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"segmentation_backbone_image_size": 224,
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"segmentation_backbone_device": "cuda",
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"segmentation_backbone_instruction": "robot",
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"segmentation_backbone_feature_dim": 512,
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"pre_norm": false,
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"dim_model": 512,
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"n_heads": 8,
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"dim_feedforward": 3200,
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"feedforward_activation": "relu",
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"n_encoder_layers": 4,
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"n_decoder_layers": 1,
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"use_vae": true,
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"latent_dim": 32,
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"n_vae_encoder_layers": 4,
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"temporal_ensemble_coeff": null,
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"dropout": 0.1,
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"kl_weight": 10.0,
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"optimizer_lr": 1e-05,
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"optimizer_weight_decay": 0.0001,
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"optimizer_lr_backbone": 1e-05,
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"freeze_vision_backbone": false,
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"use_prediction_head": false,
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"prediction_head_type": "regression",
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"prediction_head_output_dim": [
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1
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],
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"prediction_head_hidden_dim": 256,
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"prediction_head_dropout": 0.1,
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"prediction_head_loss_weight": [
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1.0
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],
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"prediction_target_key": [
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"prediction_target"
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]
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}
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model.safetensors
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:aa134645013e018c7c8ea0e677b53b970eb8f19575c0b0e5292df813df75cd84
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size 160926400
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