EvanMath/stack_lego_wheels
05
1{2 "type": "act",3 "n_obs_steps": 1,4 "input_features": {5 "observation.state": {6 "type": "STATE",7 "shape": [8 69 ]10 },11 "observation.images.above": {12 "type": "VISUAL",13 "shape": [14 3,15 480,16 64017 ]18 },19 "observation.images.left": {20 "type": "VISUAL",21 "shape": [22 3,23 480,24 64025 ]26 }27 },28 "output_features": {29 "action": {30 "type": "ACTION",31 "shape": [32 633 ]34 }35 },36 "device": "cuda",37 "use_amp": false,38 "use_peft": false,39 "push_to_hub": true,40 "repo_id": "EvanMath/stack_lego_wheels",41 "private": null,42 "tags": null,43 "license": null,44 "pretrained_path": null,45 "chunk_size": 100,46 "n_action_steps": 100,47 "normalization_mapping": {48 "VISUAL": "MEAN_STD",49 "STATE": "MEAN_STD",50 "ACTION": "MEAN_STD"51 },52 "vision_backbone": "resnet18",53 "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",54 "replace_final_stride_with_dilation": false,55 "pre_norm": false,56 "dim_model": 512,57 "n_heads": 8,58 "dim_feedforward": 3200,59 "feedforward_activation": "relu",60 "n_encoder_layers": 4,61 "n_decoder_layers": 1,62 "use_vae": true,63 "latent_dim": 32,64 "n_vae_encoder_layers": 4,65 "temporal_ensemble_coeff": null,66 "dropout": 0.1,67 "kl_weight": 10.0,68 "optimizer_lr": 1e-05,69 "optimizer_weight_decay": 0.0001,70 "optimizer_lr_backbone": 1e-0571}