CoolFace
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Dimios45/cupstack_bspline_act_v2

sourceHugging Faceapache-2.0updated 2mo agoView on Hugging Face
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config.json83 linesDownload Raw Back to root
1{2    "type": "bspline_act",3    "n_obs_steps": 1,4    "input_features": {5        "observation.state": {6            "type": "STATE",7            "shape": [8                69            ]10        },11        "observation.images.front": {12            "type": "VISUAL",13            "shape": [14                3,15                480,16                64017            ]18        },19        "observation.images.gripper": {20            "type": "VISUAL",21            "shape": [22                3,23                480,24                64025            ]26        }27    },28    "output_features": {29        "action": {30            "type": "ACTION",31            "shape": [32                11233            ]34        }35    },36    "device": "cuda",37    "use_amp": false,38    "use_peft": false,39    "push_to_hub": false,40    "repo_id": null,41    "private": null,42    "tags": null,43    "license": null,44    "pretrained_path": null,45    "pretrained_revision": null,46    "chunk_size": 16,47    "n_action_steps": 16,48    "normalization_mapping": {49        "VISUAL": "MEAN_STD",50        "STATE": "MEAN_STD",51        "ACTION": "MEAN_STD"52    },53    "vision_backbone": "resnet18",54    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",55    "replace_final_stride_with_dilation": false,56    "pre_norm": false,57    "dim_model": 512,58    "n_heads": 8,59    "dim_feedforward": 3200,60    "feedforward_activation": "relu",61    "n_encoder_layers": 4,62    "n_decoder_layers": 1,63    "use_vae": true,64    "latent_dim": 32,65    "n_vae_encoder_layers": 4,66    "temporal_ensemble_coeff": null,67    "dropout": 0.1,68    "kl_weight": 10.0,69    "optimizer_lr": 2e-05,70    "optimizer_weight_decay": 0.0001,71    "optimizer_lr_backbone": 1e-05,72    "bspline_degree": 3,73    "bspline_chunk_size": 10,74    "relative_knots": false,75    "speed_up": 1.0,76    "n_decoded_steps": 32,77    "align_segments": true,78    "align_error_threshold": 0.5,79    "align_max_fraction": 0.2,80    "align_exclude_last_dims": 1,81    "replan_margin": 1.0,82    "channels_last": true83}