jstm/molmoact2_single_arm

1{2    "type": "molmoact2",3    "n_obs_steps": 1,4    "input_features": {5        "observation.state": {6            "type": "STATE",7            "shape": [8                99            ]10        },11        "observation.images.external1_camera": {12            "type": "VISUAL",13            "shape": [14                3,15                480,16                64017            ]18        },19        "observation.images.external2_camera": {20            "type": "VISUAL",21            "shape": [22                3,23                480,24                64025            ]26        },27        "observation.images.hand_camera": {28            "type": "VISUAL",29            "shape": [30                3,31                480,32                64033            ]34        }35    },36    "output_features": {37        "action": {38            "type": "ACTION",39            "shape": [40                741            ]42        }43    },44    "device": "cuda",45    "use_amp": false,46    "use_peft": false,47    "push_to_hub": true,48    "repo_id": "jstm/molmoact2_single_arm",49    "private": null,50    "tags": null,51    "license": null,52    "pretrained_path": null,53    "pretrained_revision": null,54    "checkpoint_path": "allenai/MolmoAct2-LIBERO",55    "checkpoint_revision": null,56    "checkpoint_force_download": false,57    "chunk_size": 10,58    "n_action_steps": 10,59    "action_mode": "continuous",60    "inference_action_mode": null,61    "discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer",62    "discrete_generation_max_steps": null,63    "norm_tag": null,64    "setup_type": "single franka robotic arm in maniskill",65    "control_mode": "delta end-effector pose",66    "image_keys": [67        "observation.images.external1_camera",68        "observation.images.external2_camera",69        "observation.images.hand_camera"70    ],71    "normalize_language": true,72    "add_setup_tokens": true,73    "add_control_tokens": true,74    "normalize_gripper": false,75    "num_state_tokens": 256,76    "max_sequence_length": null,77    "expected_max_action_dim": 32,78    "num_flow_timesteps": 8,79    "flow_matching_cutoff": 1.0,80    "flow_matching_time_offset": 0.001,81    "flow_matching_time_scale": 0.999,82    "flow_matching_beta_alpha": 1.0,83    "flow_matching_beta_beta": 1.5,84    "num_inference_steps": null,85    "mask_action_dim_padding": true,86    "enable_inference_cuda_graph": true,87    "per_episode_seed": false,88    "eval_seed": null,89    "rtc_config": null,90    "joint_signs": null,91    "joint_offsets": null,92    "enable_lora_vlm": false,93    "lora_rank": 64,94    "lora_alpha": 16,95    "lora_dropout": 0.05,96    "lora_bias": "none",97    "enable_lora_action_expert": false,98    "enable_knowledge_insulation": false,99    "freeze_embedding": true,100    "train_action_expert_only": true,101    "gradient_checkpointing": true,102    "model_dtype": "bfloat16",103    "softmax_auxiliary_loss": true,104    "softmax_auxiliary_loss_scale": 0.0001,105    "discrete_loss_token_weighting": "root_subsegments_root_tokens",106    "optimizer_lr": 1e-05,107    "optimizer_vit_lr": 5e-06,108    "optimizer_connector_lr": 5e-06,109    "optimizer_action_expert_lr": 5e-05,110    "optimizer_betas": [111        0.9,112        0.95113    ],114    "optimizer_eps": 1e-06,115    "optimizer_weight_decay": 0.0,116    "optimizer_grad_clip_norm": 1.0,117    "scheduler_warmup_steps": 200,118    "scheduler_decay_steps": 100000,119    "scheduler_decay_lr": 1e-06,120    "normalization_mapping": {121        "VISUAL": "IDENTITY",122        "STATE": "QUANTILES",123        "ACTION": "QUANTILES"124    },125    "dataset_feature_names": {126        "action": [127            "action_0",128            "action_1",129            "action_2",130            "action_3",131            "action_4",132            "action_5",133            "action_6"134        ],135        "observation.state": [136            "joint_0",137            "joint_1",138            "joint_2",139            "joint_3",140            "joint_4",141            "joint_5",142            "joint_6",143            "joint_7",144            "joint_8"145        ]146    }147}