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vqbet_pusht

Robotics
Transformers
Safetensors
vqbet-policy
model_hub_mixin
pytorch_model_hub_mixin
Inference Endpoints
Model card Files Community
3
vqbet_pusht
File size: 1,735 Bytes 
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{
    "type": "vqbet",
    "n_obs_steps": 5,
    "device": "cuda",
    "use_amp": false,
    "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
}