ByteBlitzatHF/multitask-dit-your-robot
07
1{2 "type": "multi_task_dit",3 "n_obs_steps": 2,4 "input_features": {5 "observation.state": {6 "type": "STATE",7 "shape": [8 69 ]10 },11 "observation.images.wrist": {12 "type": "VISUAL",13 "shape": [14 3,15 480,16 64017 ]18 }19 },20 "output_features": {21 "action": {22 "type": "ACTION",23 "shape": [24 625 ]26 }27 },28 "device": "cuda",29 "use_amp": false,30 "use_peft": false,31 "push_to_hub": true,32 "repo_id": "ByteBlitzatHF/multitask-dit-your-robot",33 "private": null,34 "tags": null,35 "license": null,36 "pretrained_path": null,37 "horizon": 32,38 "n_action_steps": 24,39 "objective": "diffusion",40 "noise_scheduler_type": "DDPM",41 "num_train_timesteps": 100,42 "beta_schedule": "squaredcos_cap_v2",43 "beta_start": 0.0001,44 "beta_end": 0.02,45 "prediction_type": "epsilon",46 "clip_sample": true,47 "clip_sample_range": 1.0,48 "num_inference_steps": null,49 "sigma_min": 0.0,50 "num_integration_steps": 100,51 "integration_method": "euler",52 "timestep_sampling_strategy": "beta",53 "timestep_sampling_s": 0.999,54 "timestep_sampling_alpha": 1.5,55 "timestep_sampling_beta": 1.0,56 "hidden_dim": 512,57 "num_layers": 6,58 "num_heads": 8,59 "dropout": 0.1,60 "use_positional_encoding": false,61 "timestep_embed_dim": 256,62 "use_rope": true,63 "rope_base": 10000.0,64 "vision_encoder_name": "openai/clip-vit-base-patch16",65 "use_separate_rgb_encoder_per_camera": false,66 "vision_encoder_lr_multiplier": 0.1,67 "image_resize_shape": null,68 "image_crop_shape": [69 224,70 22471 ],72 "image_crop_is_random": true,73 "text_encoder_name": "openai/clip-vit-base-patch16",74 "tokenizer_max_length": 77,75 "tokenizer_padding": "max_length",76 "tokenizer_padding_side": "right",77 "tokenizer_truncation": true,78 "normalization_mapping": {79 "VISUAL": "MEAN_STD",80 "STATE": "MIN_MAX",81 "ACTION": "MIN_MAX"82 },83 "optimizer_lr": 2e-05,84 "optimizer_betas": [85 0.95,86 0.99987 ],88 "optimizer_eps": 1e-08,89 "optimizer_weight_decay": 0.0,90 "scheduler_name": "cosine",91 "scheduler_warmup_steps": 0,92 "do_mask_loss_for_padding": false,93 "drop_n_last_frames": 794}