Upload 6 files
Browse files- config.json +48 -0
- config.yaml +150 -0
- demo.gif +0 -0
- eval_info.json +3523 -0
- model.safetensors +3 -0
- training_curves.png +0 -0
config.json
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{
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"n_obs_steps": 5,
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"n_action_pred_token": 7,
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"n_action_pred_chunk": 5,
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"input_shapes": {
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"observation.image": [
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3,
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96,
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96
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],
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"observation.state": [
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]
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},
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"output_shapes": {
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"action": [
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]
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},
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"input_normalization_modes": {
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"observation.image": "mean_std",
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"observation.state": "min_max"
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},
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"output_normalization_modes": {
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"action": "min_max"
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},
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"vision_backbone": "resnet18",
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"crop_shape": [
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84,
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84
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],
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"crop_is_random": true,
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"pretrained_backbone_weights": null,
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"use_group_norm": true,
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"spatial_softmax_num_keypoints": 32,
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"discretize_step": 20000,
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"vqvae_groups": 2,
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"vqvae_n_embed": 16,
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"vqvae_embedding_dim": 256,
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"gpt_block_size": 500,
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"gpt_output_dim": 512,
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"gpt_n_layer": 8,
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"gpt_n_head": 8,
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"gpt_hidden_dim": 512,
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"dropout": 0.1,
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"mlp_hidden_dim": 1024,
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"offset_loss_weight": 10000.0
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}
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config.yaml
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device: cuda
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use_amp: false
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seed: 100000
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dataset_repo_id: lerobot/pusht
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training:
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offline_steps: 800000
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online_steps: 0
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online_steps_between_rollouts: 1
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online_sampling_ratio: 0.5
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online_env_seed: ???
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eval_freq: 20000
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save_freq: 20000
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log_freq: 250
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save_model: true
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batch_size: 64
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grad_clip_norm: 10
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lr: 0.0001
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lr_scheduler: cosine
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lr_warmup_steps: 500
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adam_betas:
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- 0.95
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- 0.999
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adam_eps: 1.0e-08
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adam_weight_decay: 1.0e-06
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vqvae_lr: 0.001
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discretize_step: 20000
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bet_weight_decay: 0.0002
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bet_learning_rate: 5.5e-05
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bet_betas:
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- 0.9
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- 0.999
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delta_timestamps:
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observation.image:
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- -0.4
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- -0.3
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- -0.2
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- -0.1
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- 0.0
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observation.state:
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- -0.4
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- -0.3
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- -0.2
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- -0.1
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- 0.0
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action:
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- -0.4
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- -0.3
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- -0.2
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- -0.1
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- 0.0
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- 0.1
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- 0.2
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- 0.3
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- 0.4
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- 0.5
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- 0.6
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- 0.7
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- 0.8
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- 0.9
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- 1.0
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eval:
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n_episodes: 500
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batch_size: 50
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use_async_envs: false
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wandb:
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enable: true
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disable_artifact: false
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project: lerobot
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notes: ''
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fps: 10
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env:
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name: pusht
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task: PushT-v0
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from_pixels: true
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pixels_only: false
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image_size: 96
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episode_length: 300
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fps: ${fps}
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state_dim: 2
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action_dim: 2
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override_dataset_stats:
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observation.image:
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mean:
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- - - 0.5
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- - - 0.5
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- - - 0.5
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std:
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| 88 |
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- - - 0.5
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- - - 0.5
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- - - 0.5
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| 91 |
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observation.state:
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| 92 |
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min:
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| 93 |
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- 13.456424
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| 94 |
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- 32.938293
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| 95 |
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max:
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| 96 |
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- 496.14618
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| 97 |
+
- 510.9579
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| 98 |
+
action:
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| 99 |
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min:
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| 100 |
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- 12.0
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| 101 |
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- 25.0
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| 102 |
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max:
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| 103 |
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- 511.0
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| 104 |
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- 511.0
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| 105 |
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policy:
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| 106 |
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name: vqbet
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| 107 |
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n_obs_steps: 5
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| 108 |
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n_action_pred_token: 7
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| 109 |
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n_action_pred_chunk: 5
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| 110 |
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input_shapes:
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| 111 |
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observation.image:
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| 112 |
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- 3
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| 113 |
+
- 96
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| 114 |
+
- 96
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| 115 |
+
observation.state:
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| 116 |
+
- ${env.state_dim}
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| 117 |
+
output_shapes:
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| 118 |
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action:
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| 119 |
+
- ${env.action_dim}
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| 120 |
+
input_normalization_modes:
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| 121 |
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observation.image: mean_std
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| 122 |
+
observation.state: min_max
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| 123 |
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output_normalization_modes:
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| 124 |
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action: min_max
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| 125 |
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vision_backbone: resnet18
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| 126 |
+
crop_shape:
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| 127 |
+
- 84
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| 128 |
+
- 84
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| 129 |
+
crop_is_random: true
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| 130 |
+
pretrained_backbone_weights: null
|
| 131 |
+
use_group_norm: true
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| 132 |
+
spatial_softmax_num_keypoints: 32
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| 133 |
+
discretize_step: ${training.discretize_step}
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| 134 |
+
vqvae_groups: 2
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| 135 |
+
vqvae_n_embed: 16
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| 136 |
+
vqvae_embedding_dim: 256
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| 137 |
+
vqvae_enc_hidden_dim: 128
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| 138 |
+
gpt_block_size: 500
|
| 139 |
+
gpt_input_dim: 512
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| 140 |
+
gpt_output_dim: 512
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| 141 |
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gpt_n_layer: 8
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| 142 |
+
gpt_n_head: 8
|
| 143 |
+
gpt_hidden_dim: 512
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| 144 |
+
gpt_num_obs_mode: 2
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| 145 |
+
dropout: 0.1
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| 146 |
+
mlp_hidden_dim: 1024
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| 147 |
+
offset_loss_weight: 10000.0
|
| 148 |
+
primary_code_loss_weight: 5.0
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| 149 |
+
secondary_code_loss_weight: 0.5
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| 150 |
+
bet_softmax_temperature: 0.01
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demo.gif
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eval_info.json
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