| { | |
| "n_obs_steps": 1, | |
| "normalization_mapping": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MIN_MAX", | |
| "ACTION": "MIN_MAX" | |
| }, | |
| "input_features": { | |
| "observation.images.egoview": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 800, | |
| 1280 | |
| ] | |
| }, | |
| "observation.images.ego_view": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 44 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 44 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": true, | |
| "chunk_size": 16, | |
| "n_action_steps": 8, | |
| "vision_model_id": "/scratch/cbjp404/.cache/hf/models/siglip-so400m-patch14-384", | |
| "text_model_id": "/scratch/cbjp404/.cache/hf/models/gemma-3-4b-it", | |
| "use_2d_rope": false, | |
| "lora_rank": 16, | |
| "lora_alpha": 16, | |
| "lora_dropout": 0.1, | |
| "lora_target_modules": [ | |
| "q_proj", | |
| "k_proj", | |
| "v_proj", | |
| "o_proj" | |
| ], | |
| "scaledp_num_layers": 4, | |
| "scaledp_num_heads": 8, | |
| "scaledp_dim_model": 512, | |
| "scaledp_dim_feedforward": 2048, | |
| "num_diffusion_steps": 100, | |
| "conditioning_dim": 768, | |
| "plan_update_interval": 10, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_weight_decay": 1e-06 | |
| } |