CoolFace
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RoboSynChallenge/ACT_sim_drawer_open_place

sourceHugging Faceupdated 2mo agoView on Hugging Face
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config.json89 linesDownload Raw Back to root
1{2    "type": "act",3    "n_obs_steps": 1,4    "normalization_mapping": {5        "VISUAL": "MEAN_STD",6        "STATE": "MEAN_STD",7        "ACTION": "MEAN_STD"8    },9    "input_features": {10        "observation.state": {11            "type": "STATE",12            "shape": [13                1414            ]15        },16        "observation.qvel": {17            "type": "STATE",18            "shape": [19                1420            ]21        },22        "observation.qf": {23            "type": "STATE",24            "shape": [25                1426            ]27        },28        "observation.images.cam_high": {29            "type": "VISUAL",30            "shape": [31                3,32                480,33                64034            ]35        },36        "observation.images.cam_right_wrist": {37            "type": "VISUAL",38            "shape": [39                3,40                480,41                64042            ]43        },44        "observation.images.cam_left_wrist": {45            "type": "VISUAL",46            "shape": [47                3,48                480,49                64050            ]51        }52    },53    "output_features": {54        "action": {55            "type": "ACTION",56            "shape": [57                1458            ]59        }60    },61    "device": "cuda",62    "use_amp": false,63    "push_to_hub": false,64    "repo_id": null,65    "private": null,66    "tags": null,67    "license": null,68    "chunk_size": 50,69    "n_action_steps": 50,70    "vision_backbone": "resnet18",71    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",72    "replace_final_stride_with_dilation": false,73    "pre_norm": false,74    "dim_model": 512,75    "n_heads": 8,76    "dim_feedforward": 3200,77    "feedforward_activation": "relu",78    "n_encoder_layers": 4,79    "n_decoder_layers": 1,80    "use_vae": true,81    "latent_dim": 32,82    "n_vae_encoder_layers": 4,83    "temporal_ensemble_coeff": null,84    "dropout": 0.1,85    "kl_weight": 10.0,86    "optimizer_lr": 1e-05,87    "optimizer_weight_decay": 0.0001,88    "optimizer_lr_backbone": 1e-0589}