| { | |
| "type": "sarm", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
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| "type": "VISUAL", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ] | |
| }, | |
| "observation.state": { | |
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| 32 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
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| "type": "REWARD", | |
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| 9, | |
| 1 | |
| ] | |
| }, | |
| "sparse_progress": { | |
| "type": "REWARD", | |
| "shape": [ | |
| 9, | |
| 1 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "push_to_hub": true, | |
| "repo_id": "pepijn223/sarm_single_uni", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "annotation_mode": "single_stage", | |
| "image_dim": 512, | |
| "text_dim": 512, | |
| "num_frames": 9, | |
| "frame_gap": 30, | |
| "hidden_dim": 768, | |
| "num_heads": 12, | |
| "num_layers": 8, | |
| "max_state_dim": 32, | |
| "max_length": 9, | |
| "use_temporal_sampler": true, | |
| "num_sparse_stages": 1, | |
| "sparse_subtask_names": [ | |
| "task" | |
| ], | |
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| "batch_size": 64, | |
| "clip_batch_size": 64, | |
| "dropout": 0.1, | |
| "stage_loss_weight": 1.0, | |
| "pretrained_model_path": null, | |
| "image_key": "observation.images.base", | |
| "state_key": "observation.state", | |
| "dual_inference_mode": "sparse", | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "LANGUAGE": "IDENTITY", | |
| "REWARD": "IDENTITY" | |
| } | |
| } |