Upload config.json with huggingface_hub
Browse files- config.json +106 -0
config.json
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{
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"type": "smolvla",
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"n_obs_steps": 1,
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"input_features": {
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"observation.images.screen": {
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"type": "VISUAL",
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"shape": [
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3,
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1080,
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1920
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]
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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3
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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3
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]
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}
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},
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"device": "cuda:0",
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"use_amp": false,
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"push_to_hub": false,
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"repo_id": null,
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"private": null,
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"tags": null,
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"license": null,
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"chunk_size": 21,
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"n_action_steps": 1,
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "IDENTITY",
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"ACTION": "IDENTITY"
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},
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"max_state_dim": 32,
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"max_action_dim": 3,
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"resize_imgs_with_padding": [
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1024,
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576
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],
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"empty_cameras": 0,
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"adapt_to_pi_aloha": false,
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"use_delta_joint_actions_aloha": false,
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"tokenizer_max_length": 48,
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"num_steps": 10,
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"noise_std": 0.3,
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"noise_std_dex": null,
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"time_min": 0.001,
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"state_noise_std": 0.02,
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"time_beta_dex": [
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1.5,
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1.0
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],
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"time_beta_grounding": [
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0.5,
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1.5
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],
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"use_cache": true,
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"freeze_vision_encoder": false,
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"train_expert_only": false,
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"train_state_proj": true,
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"optimizer_lr": 5e-05,
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"optimizer_betas": [
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0.9,
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0.95
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 1e-10,
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"optimizer_grad_clip_norm": 10,
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"scheduler_warmup_steps": 0,
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"scheduler_decay_steps": 15000,
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"scheduler_decay_lr": 2.5e-06,
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"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
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"load_vlm_weights": true,
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"add_image_special_tokens": false,
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"attention_mode": "cross_attn",
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"vision_scale_factor": 4,
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"prefix_length": -1,
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"pad_language_to": "longest",
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"num_expert_layers": -1,
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"num_vlm_layers": 16,
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"self_attn_every_n_layers": 2,
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"expert_width_multiplier": 0.75,
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"min_period": 0.004,
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"max_period": 4.0,
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"traj_reg_indices": [
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1,
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2
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],
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"lambda_dir": 0.0,
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"lambda_traj_acc": 0.0,
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"lambda_action_recon": 0.0,
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"time_weights": null,
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"dex_grounding_ratio": 4,
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"use_lora": false,
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"lora_rank": 16,
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"lora_alpha": 32,
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"lora_dropout": 0.05
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}
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