fishingxb/test

1{2  "architectures": [3    "VODP"4  ],5  "attn_implementation": null,6  "auto_map": {7    "AutoConfig": "vodp.VODPConfig",8    "AutoModel": "vodp.VODP"9  },10  "cond_predict_scale": true,11  "diffusion_step_embed_dim": 128,12  "down_dims": [13    256,14    512,15    102416  ],17  "horizon": 8,18  "kernel_size": 5,19  "n_action_steps": 8,20  "n_groups": 8,21  "n_obs_steps": 1,22  "noise_scheduler": {23    "_target_": "diffusers.schedulers.scheduling_ddpm.DDPMScheduler",24    "beta_end": 0.02,25    "beta_schedule": "squaredcos_cap_v2",26    "beta_start": 0.0001,27    "clip_sample": true,28    "num_train_timesteps": 100,29    "prediction_type": "epsilon",30    "variance_type": "fixed_small"31  },32  "num_inference_steps": 100,33  "obs_as_global_cond": true,34  "obs_encoder": {35    "_target_": "drrm.models.VODPEncoder",36    "crop_shape": null,37    "emvis_config": {38      "dim_2d": null,39      "dim_3d_keys": [40        "frame",41        "global"42      ],43      "drop_p": 0.0,44      "ft_heads": [],45      "ft_layer_idx": [],46      "injector_config": {47        "dim_out": 1024,48        "ffn_layer_num": 1,49        "fuse_2d": true,50        "fuse_3d": false51      },52      "intermediate_layer_idx": [53        2354      ],55      "interpolate": "bilinear",56      "load_vggt_heads": true,57      "load_vggt_pretrain": false,58      "mlp_ratio": 1.0,59      "model_adapter_config": {60        "conv_num": 3,61        "dim_out": 1024,62        "shape_out": [63          1,64          165        ],66        "target": "ResNetAdapter"67      },68      "mv_fuser_config": {},69      "only_first_view": true,70      "seq_as_view": false,71      "vggt_model_path": "/data/vepfs/public/xianbao01.hou/new/vodp/model/model.pt",72      "visualize": false73    },74    "imagenet_norm": true,75    "out_channels": 526,76    "random_crop": true,77    "resize_shape": null,78    "shape_meta": {79      "action": {80        "shape": [81          882        ]83      },84      "obs": {85        "agent_pos": {86          "shape": [87            888          ],89          "type": "low_dim"90        },91        "front_cam": {92          "shape": [93            3,94            240,95            32096          ],97          "type": "rgb"98        },99        "head_cam": {100          "shape": [101            3,102            240,103            320104          ],105          "type": "rgb"106        }107      }108    },109    "share_rgb_model": false,110    "use_group_norm": true111  },112  "out_channels": 1032,113  "pkg_map": {114    "AutoConfig": "drrm.models.VODPConfig",115    "AutoModel": "drrm.models.VODP"116  },117  "shape_meta": {118    "action": {119      "shape": [120        8121      ]122    },123    "obs": {124      "agent_pos": {125        "shape": [126          8127        ],128        "type": "low_dim"129      },130      "front_cam": {131        "shape": [132          3,133          240,134          320135        ],136        "type": "rgb"137      },138      "head_cam": {139        "shape": [140          3,141          240,142          320143        ],144        "type": "rgb"145      }146    }147  },148  "torch_dtype": "float32",149  "transformers_version": "4.52.3"150}151