CoolFace
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godnpeter/pick_pikachu

sourceHugging Faceapache-2.0updated 1y agoView on Hugging Face
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config.json80 linesDownload Raw Back to root
1{2    "type": "smolvla",3    "n_obs_steps": 1,4    "normalization_mapping": {5        "VISUAL": "IDENTITY",6        "STATE": "MEAN_STD",7        "ACTION": "MEAN_STD"8    },9    "input_features": {10        "observation.state": {11            "type": "STATE",12            "shape": [13                614            ]15        },16        "observation.images.front": {17            "type": "VISUAL",18            "shape": [19                3,20                1080,21                192022            ]23        }24    },25    "output_features": {26        "action": {27            "type": "ACTION",28            "shape": [29                630            ]31        }32    },33    "device": "cuda",34    "use_amp": false,35    "push_to_hub": true,36    "repo_id": "godnpeter/pick_pikachu",37    "private": null,38    "tags": null,39    "license": null,40    "chunk_size": 50,41    "n_action_steps": 50,42    "max_state_dim": 32,43    "max_action_dim": 32,44    "resize_imgs_with_padding": [45        512,46        51247    ],48    "empty_cameras": 0,49    "adapt_to_pi_aloha": false,50    "use_delta_joint_actions_aloha": false,51    "tokenizer_max_length": 48,52    "num_steps": 10,53    "use_cache": true,54    "freeze_vision_encoder": true,55    "train_expert_only": true,56    "train_state_proj": true,57    "optimizer_lr": 0.0001,58    "optimizer_betas": [59        0.9,60        0.9561    ],62    "optimizer_eps": 1e-08,63    "optimizer_weight_decay": 1e-10,64    "optimizer_grad_clip_norm": 10.0,65    "scheduler_warmup_steps": 1000,66    "scheduler_decay_steps": 30000,67    "scheduler_decay_lr": 2.5e-06,68    "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",69    "load_vlm_weights": true,70    "add_image_special_tokens": false,71    "attention_mode": "cross_attn",72    "prefix_length": 0,73    "pad_language_to": "max_length",74    "num_expert_layers": 0,75    "num_vlm_layers": 16,76    "self_attn_every_n_layers": 2,77    "expert_width_multiplier": 0.75,78    "min_period": 0.004,79    "max_period": 4.080}