| { | |
| "type": "vqbet", | |
| "n_obs_steps": 5, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MIN_MAX", | |
| "ACTION": "MIN_MAX" | |
| }, | |
| "input_features": { | |
| "observation.image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 96, | |
| 96 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 2 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 2 | |
| ] | |
| } | |
| }, | |
| "n_action_pred_token": 3, | |
| "action_chunk_size": 5, | |
| "vision_backbone": "resnet18", | |
| "crop_shape": [ | |
| 84, | |
| 84 | |
| ], | |
| "crop_is_random": true, | |
| "pretrained_backbone_weights": null, | |
| "use_group_norm": true, | |
| "spatial_softmax_num_keypoints": 32, | |
| "n_vqvae_training_steps": 20000, | |
| "vqvae_n_embed": 16, | |
| "vqvae_embedding_dim": 256, | |
| "vqvae_enc_hidden_dim": 128, | |
| "gpt_block_size": 500, | |
| "gpt_input_dim": 512, | |
| "gpt_output_dim": 512, | |
| "gpt_n_layer": 8, | |
| "gpt_n_head": 8, | |
| "gpt_hidden_dim": 512, | |
| "dropout": 0.1, | |
| "mlp_hidden_dim": 1024, | |
| "offset_loss_weight": 10000.0, | |
| "primary_code_loss_weight": 5.0, | |
| "secondary_code_loss_weight": 0.5, | |
| "bet_softmax_temperature": 0.1, | |
| "sequentially_select": false, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_betas": [ | |
| 0.95, | |
| 0.999 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 1e-06, | |
| "optimizer_vqvae_lr": 0.001, | |
| "optimizer_vqvae_weight_decay": 0.0001, | |
| "scheduler_warmup_steps": 500 | |
| } |