Instructions to use chrisyrniu/mxt with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- Transformers
How to use chrisyrniu/mxt with Transformers:
# Load model directly from transformers import AutoModel model = AutoModel.from_pretrained("chrisyrniu/mxt", device_map="auto") - Notebooks
- Google Colab
- Kaggle
| { | |
| "num_steps": 200000, | |
| "eval_every": 100000, | |
| "validate_every": 1000, | |
| "save_every": 5000, | |
| "resume_ckpt_path": null, | |
| "lr": 0.0001, | |
| "policy_class": "cross", | |
| "onscreen_render": false, | |
| "seed": 6, | |
| "temporal_agg": false, | |
| "real_robot": true, | |
| "load_pretrain": false, | |
| "height": 480, | |
| "width": 1280, | |
| "normalize_resnet": false, | |
| "wandb": true, | |
| "pretrained_path": null, | |
| "randomize_data_degree": 3, | |
| "randomize_data": false, | |
| "config": null, | |
| "eval": false, | |
| "batch_size": 32, | |
| "lr_tokenizer": 0.0001, | |
| "lr_action_head": 0.0001, | |
| "lr_trunk": 0.0001, | |
| "skip_mirrored_data": false, | |
| "actuator_network_dir": null, | |
| "history_len": null, | |
| "future_len": null, | |
| "prediction_len": null, | |
| "kl_weight": null, | |
| "chunk_size": 120, | |
| "hidden_dim": null, | |
| "dim_feedforward": null, | |
| "no_encoder": true, | |
| "dec_layers": 3, | |
| "nheads": 8, | |
| "use_pos_embd_image": 1, | |
| "use_pos_embd_action": 1, | |
| "feature_loss_weight": 0.0, | |
| "self_attention": 1, | |
| "same_backbones": true, | |
| "use_mask": false, | |
| "use_wrist": true, | |
| "data_aug": false, | |
| "grayscale": false, | |
| "randomize_color": false, | |
| "pretrain_image_width": 1276, | |
| "pretrain_image_height": 480, | |
| "gpu_id": 0, | |
| "train_ratio": 0.99, | |
| "min_val_num": 20, | |
| "share_cross_attn": false, | |
| "agg_modalities": false, | |
| "policy_config": { | |
| "lr": 0.0001, | |
| "lr_backbone": 1e-05, | |
| "embodiment_args_dict": { | |
| "normalize_state": true, | |
| "locoman": { | |
| "tokenizer": { | |
| "hidden_dim": 128, | |
| "nhead": 4, | |
| "dim_head": 32, | |
| "dropout": 0.1, | |
| "main_image": { | |
| "output_dim": 128, | |
| "weights": "DEFAULT", | |
| "resnet_model": "resnet18", | |
| "num_of_copy": 1, | |
| "token_num": 16 | |
| }, | |
| "wrist_image": { | |
| "output_dim": 128, | |
| "weights": "DEFAULT", | |
| "resnet_model": "resnet18", | |
| "num_of_copy": 1, | |
| "token_num": 8 | |
| }, | |
| "body_pose_state": { | |
| "input_dim": 6, | |
| "output_dim": 128, | |
| "widths": [ | |
| 128, | |
| 128 | |
| ], | |
| "tanh_end": false, | |
| "ln": true, | |
| "token_num": 4 | |
| }, | |
| "eef_pose_state": { | |
| "input_dim": 12, | |
| "output_dim": 128, | |
| "widths": [ | |
| 128, | |
| 128 | |
| ], | |
| "tanh_end": false, | |
| "ln": true, | |
| "token_num": 4 | |
| }, | |
| "eef_to_body_pose_state": { | |
| "input_dim": 12, | |
| "output_dim": 128, | |
| "widths": [ | |
| 128, | |
| 128 | |
| ], | |
| "tanh_end": false, | |
| "ln": true, | |
| "token_num": 4 | |
| }, | |
| "gripper_state": { | |
| "input_dim": 2, | |
| "output_dim": 128, | |
| "widths": [ | |
| 128, | |
| 128 | |
| ], | |
| "tanh_end": false, | |
| "ln": true, | |
| "token_num": 4 | |
| } | |
| }, | |
| "action_head": { | |
| "eef_pose": { | |
| "type": "transformer", | |
| "input_dim": 128, | |
| "output_dim": 12, | |
| "crossattn_modality_dropout": 0.1, | |
| "crossattn_heads": 4, | |
| "crossattn_dim_head": 16, | |
| "action_horizon": 120 | |
| }, | |
| "body_pose": { | |
| "type": "transformer", | |
| "input_dim": 128, | |
| "output_dim": 6, | |
| "crossattn_modality_dropout": 0.1, | |
| "crossattn_heads": 4, | |
| "crossattn_dim_head": 16, | |
| "action_horizon": 120 | |
| }, | |
| "gripper": { | |
| "type": "transformer", | |
| "input_dim": 128, | |
| "output_dim": 2, | |
| "crossattn_modality_dropout": 0.1, | |
| "crossattn_heads": 4, | |
| "crossattn_dim_head": 16, | |
| "action_horizon": 120 | |
| } | |
| } | |
| }, | |
| "human": { | |
| "tokenizer": { | |
| "hidden_dim": 128, | |
| "nhead": 4, | |
| "dim_head": 32, | |
| "dropout": 0.1, | |
| "main_image": { | |
| "output_dim": 128, | |
| "weights": "DEFAULT", | |
| "resnet_model": "resnet18", | |
| "num_of_copy": 1, | |
| "token_num": 16 | |
| }, | |
| "body_pose_state": { | |
| "input_dim": 6, | |
| "output_dim": 128, | |
| "widths": [ | |
| 128, | |
| 128 | |
| ], | |
| "tanh_end": false, | |
| "ln": true, | |
| "token_num": 4 | |
| }, | |
| "eef_pose_state": { | |
| "input_dim": 12, | |
| "output_dim": 128, | |
| "widths": [ | |
| 128, | |
| 128 | |
| ], | |
| "tanh_end": false, | |
| "ln": true, | |
| "token_num": 4 | |
| }, | |
| "eef_to_body_pose_state": { | |
| "input_dim": 12, | |
| "output_dim": 128, | |
| "widths": [ | |
| 128, | |
| 128 | |
| ], | |
| "tanh_end": false, | |
| "ln": true, | |
| "token_num": 4 | |
| }, | |
| "gripper_state": { | |
| "input_dim": 2, | |
| "output_dim": 128, | |
| "widths": [ | |
| 128, | |
| 128 | |
| ], | |
| "tanh_end": false, | |
| "ln": true, | |
| "token_num": 4 | |
| } | |
| }, | |
| "action_head": { | |
| "eef_pose": { | |
| "type": "transformer", | |
| "input_dim": 128, | |
| "output_dim": 12, | |
| "crossattn_modality_dropout": 0.1, | |
| "crossattn_heads": 4, | |
| "crossattn_dim_head": 16, | |
| "action_horizon": 120 | |
| }, | |
| "body_pose": { | |
| "type": "transformer", | |
| "input_dim": 128, | |
| "output_dim": 6, | |
| "crossattn_modality_dropout": 0.1, | |
| "crossattn_heads": 4, | |
| "crossattn_dim_head": 16, | |
| "action_horizon": 120 | |
| }, | |
| "gripper": { | |
| "type": "transformer", | |
| "input_dim": 128, | |
| "output_dim": 2, | |
| "crossattn_modality_dropout": 0.1, | |
| "crossattn_heads": 4, | |
| "crossattn_dim_head": 16, | |
| "action_horizon": 120 | |
| } | |
| } | |
| } | |
| }, | |
| "transformer_args": { | |
| "output_len": { | |
| "eef_pose": 6, | |
| "body_pose": 6, | |
| "gripper": 6 | |
| }, | |
| "trunk_mode": "encoder_decoder", | |
| "hidden_dim": 128, | |
| "dropout": 0.5, | |
| "nheads": 16, | |
| "dim_feedforward": 256, | |
| "enc_layers": 4, | |
| "dec_layers": 4, | |
| "pre_norm": false, | |
| "token_postprocessing": "none" | |
| }, | |
| "share_cross_attn": false, | |
| "agg_modalities": false | |
| } | |
| } |