CoolFace
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giacomoran/so101_cube_dm_act_smooth_p4f2_0

sourceHugging Faceapache-2.0updated 6mo agoView on Hugging Face
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config.json59 linesDownload Raw Back to root
1{2    "type": "act_smooth",3    "n_obs_steps": 1,4    "input_features": {5        "observation.images.wrist": {6            "type": "VISUAL",7            "shape": [8                3,9                640,10                48011            ]12        }13    },14    "output_features": {15        "action": {16            "type": "ACTION",17            "shape": [18                619            ]20        }21    },22    "device": "cuda",23    "use_amp": false,24    "use_peft": false,25    "push_to_hub": true,26    "repo_id": "giacomoran/so101_cube_dm_act_smooth_p4f2",27    "private": null,28    "tags": null,29    "license": null,30    "pretrained_path": "/workspace/so101_cube_dm_act_smooth_p4f2/checkpoints/030000/pretrained_model",31    "chunk_size": 30,32    "n_action_steps": 30,33    "length_prefix_past": 4,34    "length_prefix_future": 2,35    "use_action_relative": true,36    "normalization_mapping": {37        "VISUAL": "MEAN_STD",38        "STATE": "MEAN_STD",39        "ACTION": "MEAN_STD"40    },41    "vision_backbone": "resnet18",42    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",43    "replace_final_stride_with_dilation": 0,44    "pre_norm": false,45    "dim_model": 512,46    "n_heads": 8,47    "dim_feedforward": 3200,48    "feedforward_activation": "relu",49    "n_encoder_layers": 4,50    "n_decoder_layers": 1,51    "use_vae": false,52    "latent_dim": 32,53    "n_vae_encoder_layers": 4,54    "dropout": 0.1,55    "kl_weight": 10.0,56    "optimizer_lr": 3e-05,57    "optimizer_weight_decay": 0.0001,58    "optimizer_lr_backbone": 3e-0559}