Robotics
Transformers
Human
Pretraining
Manipulation
mxt / scoop /config.json
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{
"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": {
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"lr_backbone": 1e-05,
"embodiment_args_dict": {
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"locoman": {
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"weights": "DEFAULT",
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},
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},
"body_pose_state": {
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],
"tanh_end": false,
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},
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],
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},
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},
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}
},
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},
"body_pose": {
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}
}
},
"human": {
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},
"body_pose_state": {
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],
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},
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],
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},
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],
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}
},
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},
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},
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}
}
}
},
"transformer_args": {
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"gripper": 6
},
"trunk_mode": "encoder_decoder",
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"dropout": 0.5,
"nheads": 16,
"dim_feedforward": 256,
"enc_layers": 4,
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"pre_norm": false,
"token_postprocessing": "none"
},
"share_cross_attn": false,
"agg_modalities": false
}
}