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super_chatton_evo2

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super_chatton_evo2
File size: 2,496 Bytes
039a209
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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{
    "type": "evo1",
    "n_obs_steps": 1,
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                6
            ]
        },
        "observation.images.front": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        },
        "observation.images.wrist": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                6
            ]
        }
    },
    "device": "cuda",
    "use_amp": true,
    "use_peft": false,
    "push_to_hub": true,
    "repo_id": "imstevenpmwork/super_chatton_evo2",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "training_stage": "stage2",
    "chunk_size": 50,
    "n_action_steps": 50,
    "max_state_dim": 6,
    "max_action_dim": 6,
    "max_views": 3,
    "image_resolution": [
        448,
        448
    ],
    "empty_cameras": 0,
    "postprocess_action_dim": null,
    "binarize_gripper": false,
    "gripper_index": 6,
    "gripper_threshold": 0.5,
    "gripper_below_threshold_value": 1.0,
    "gripper_above_threshold_value": -1.0,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "MIN_MAX",
        "ACTION": "MIN_MAX"
    },
    "vlm_model_name": "OpenGVLab/InternVL3-1B-hf",
    "vlm_num_layers": 14,
    "vlm_dtype": "bfloat16",
    "use_flash_attn": true,
    "action_head": "flowmatching",
    "embed_dim": 896,
    "hidden_dim": 1024,
    "state_hidden_dim": 1024,
    "num_heads": 8,
    "num_layers": 8,
    "dropout": 0.0,
    "num_inference_timesteps": 32,
    "num_categories": 1,
    "return_cls_only": false,
    "enable_gradient_checkpointing": true,
    "gradient_checkpointing_use_reentrant": false,
    "finetune_vlm": true,
    "finetune_language_model": true,
    "finetune_vision_model": true,
    "finetune_action_head": true,
    "apply_training_stage_defaults": true,
    "task_field": "task",
    "embodiment_id_field": null,
    "default_embodiment_id": 0,
    "optimizer_lr": 0.0001,
    "optimizer_betas": [
        0.9,
        0.999
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 1e-05,
    "optimizer_grad_clip_norm": 1.0,
    "scheduler_warmup_steps": 1000,
    "drop_last": true
}