| { |
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| "n_obs_steps": 1, |
| "input_features": { |
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| ] |
| }, |
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| 640 |
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| } |
| }, |
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| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": "ETHrobotlearning/molmoact2-task3-TOY-clean-step2000", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "checkpoint_path": "allenai/MolmoAct2-SO100_101", |
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| "discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer", |
| "discrete_generation_max_steps": null, |
| "norm_tag": null, |
| "setup_type": "single SO-100/SO-101 arm with one front RGB camera", |
| "control_mode": "absolute joint pose", |
| "image_keys": [ |
| "observation.images.front" |
| ], |
| "normalize_language": true, |
| "add_setup_tokens": true, |
| "add_control_tokens": true, |
| "normalize_gripper": false, |
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| "num_flow_timesteps": 8, |
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| "num_inference_steps": null, |
| "mask_action_dim_padding": true, |
| "enable_inference_cuda_graph": true, |
| "per_episode_seed": false, |
| "eval_seed": null, |
| "rtc_config": null, |
| "enable_lora_vlm": true, |
| "lora_rank": 64, |
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| "train_action_expert_only": false, |
| "gradient_checkpointing": true, |
| "model_dtype": "bfloat16", |
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| "softmax_auxiliary_loss_scale": 0.0001, |
| "discrete_loss_token_weighting": "root_subsegments_root_tokens", |
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| "optimizer_vit_lr": 5e-06, |
| "optimizer_connector_lr": 5e-06, |
| "optimizer_action_expert_lr": 5e-05, |
| "optimizer_betas": [ |
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| 0.95 |
| ], |
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| "scheduler_warmup_steps": 200, |
| "scheduler_decay_steps": null, |
| "scheduler_decay_lr": 1e-06, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "QUANTILES", |
| "ACTION": "QUANTILES" |
| }, |
| "dataset_feature_names": { |
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| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ], |
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| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ] |
| } |
| } |
