CoolFace
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justintiensmith/groot_multi_gpu_v2

sourceHugging Faceapache-2.0updated 14d agoView on Hugging Face
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config.json99 linesDownload Raw Back to root
1{2    "type": "groot",3    "n_obs_steps": 1,4    "input_features": {5        "observation.images.middle": {6            "type": "VISUAL",7            "shape": [8                3,9                480,10                64011            ]12        },13        "observation.images.wrist": {14            "type": "VISUAL",15            "shape": [16                3,17                480,18                64019            ]20        },21        "observation.state": {22            "type": "STATE",23            "shape": [24                625            ]26        }27    },28    "output_features": {29        "action": {30            "type": "ACTION",31            "shape": [32                633            ]34        }35    },36    "device": "cuda",37    "use_amp": false,38    "use_peft": false,39    "push_to_hub": true,40    "repo_id": "justintiensmith/groot_multi_gpu_v2",41    "private": null,42    "tags": null,43    "license": null,44    "pretrained_path": null,45    "pretrained_revision": null,46    "chunk_size": 16,47    "n_action_steps": 16,48    "max_state_dim": 132,49    "max_action_dim": 132,50    "normalization_mapping": {51        "VISUAL": "IDENTITY",52        "STATE": "IDENTITY",53        "ACTION": "IDENTITY"54    },55    "base_model_path": "nvidia/GR00T-N1.7-3B",56    "action_decode_transform": null,57    "embodiment_tag": "new_embodiment",58    "tune_llm": true,59    "tune_visual": true,60    "tune_projector": true,61    "tune_diffusion_model": true,62    "tune_vlln": true,63    "tune_top_llm_layers": 0,64    "num_inference_timesteps": null,65    "rtc_ramp_rate": null,66    "use_flash_attention": false,67    "use_relative_actions": false,68    "relative_exclude_joints": [],69    "optimizer_lr": 1e-05,70    "optimizer_betas": [71        0.9,72        0.99973    ],74    "optimizer_eps": 1e-08,75    "optimizer_weight_decay": 1e-05,76    "warmup_ratio": 0.05,77    "use_bf16": true,78    "model_params_fp32": true,79    "image_size": [80        256,81        25682    ],83    "tokenizer_assets_repo": null,84    "lora_rank": 0,85    "lora_alpha": 16,86    "lora_dropout": 0.1,87    "lora_full_model": false,88    "video_backend": "decord",89    "balance_dataset_weights": true,90    "balance_trajectory_weights": true,91    "dataset_paths": null,92    "output_dir": "./tmp/gr00t",93    "save_steps": 1000,94    "max_steps": 76596,95    "batch_size": 32,96    "dataloader_num_workers": 8,97    "report_to": "wandb",98    "resume": false99}