rail-berkeley commited on
Commit
15910f0
1 Parent(s): 886d6d1

Delete config.json

Browse files
Files changed (1) hide show
  1. config.json +0 -1887
config.json DELETED
@@ -1,1887 +0,0 @@
1
- {
2
- "dataset_kwargs": {
3
- "balance_weights": false,
4
- "batch_size": 8,
5
- "dataset_kwargs_list": [
6
- {
7
- "name": "kuka",
8
- "data_dir": null,
9
- "image_obs_keys": {
10
- "primary": "image",
11
- "high": null,
12
- "nav": null,
13
- "left_wrist": null,
14
- "right_wrist": null
15
- },
16
- "proprio_obs_keys": {
17
- "bimanual": null,
18
- "quadruped": null
19
- },
20
- "proprio_obs_dims": {
21
- "bimanual": 14,
22
- "quadruped": 59
23
- },
24
- "action_normalization_mask": [
25
- true,
26
- true,
27
- true,
28
- true,
29
- true,
30
- true,
31
- false
32
- ],
33
- "language_key": "language_instruction",
34
- "action_proprio_normalization_type": "normal",
35
- "standardize_fn": {
36
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
37
- "name": "kuka_dataset_transform",
38
- "args": [],
39
- "kwargs": {}
40
- }
41
- },
42
- {
43
- "name": "taco_play",
44
- "data_dir": null,
45
- "image_obs_keys": {
46
- "primary": "rgb_static",
47
- "high": null,
48
- "nav": null,
49
- "left_wrist": null,
50
- "right_wrist": null
51
- },
52
- "proprio_obs_keys": {
53
- "bimanual": null,
54
- "quadruped": null
55
- },
56
- "proprio_obs_dims": {
57
- "bimanual": 14,
58
- "quadruped": 59
59
- },
60
- "action_normalization_mask": [
61
- true,
62
- true,
63
- true,
64
- true,
65
- true,
66
- true,
67
- false
68
- ],
69
- "language_key": "language_instruction",
70
- "action_proprio_normalization_type": "normal",
71
- "standardize_fn": {
72
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
73
- "name": "taco_dataset_transform",
74
- "args": [],
75
- "kwargs": {}
76
- }
77
- },
78
- {
79
- "name": "taco_extra",
80
- "data_dir": null,
81
- "image_obs_keys": {
82
- "primary": "rgb_static",
83
- "high": null,
84
- "nav": null,
85
- "left_wrist": null,
86
- "right_wrist": null
87
- },
88
- "proprio_obs_keys": {
89
- "bimanual": null,
90
- "quadruped": null
91
- },
92
- "proprio_obs_dims": {
93
- "bimanual": 14,
94
- "quadruped": 59
95
- },
96
- "action_normalization_mask": [
97
- true,
98
- true,
99
- true,
100
- true,
101
- true,
102
- true,
103
- false
104
- ],
105
- "language_key": "language_instruction",
106
- "action_proprio_normalization_type": "normal",
107
- "standardize_fn": {
108
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
109
- "name": "taco_dataset_transform",
110
- "args": [],
111
- "kwargs": {}
112
- }
113
- },
114
- {
115
- "name": "jaco_play",
116
- "data_dir": null,
117
- "image_obs_keys": {
118
- "primary": "image",
119
- "high": null,
120
- "nav": null,
121
- "left_wrist": null,
122
- "right_wrist": null
123
- },
124
- "proprio_obs_keys": {
125
- "bimanual": null,
126
- "quadruped": null
127
- },
128
- "proprio_obs_dims": {
129
- "bimanual": 14,
130
- "quadruped": 59
131
- },
132
- "action_normalization_mask": [
133
- true,
134
- true,
135
- true,
136
- true,
137
- true,
138
- true,
139
- false
140
- ],
141
- "language_key": "language_instruction",
142
- "action_proprio_normalization_type": "normal",
143
- "standardize_fn": {
144
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
145
- "name": "jaco_play_dataset_transform",
146
- "args": [],
147
- "kwargs": {}
148
- }
149
- },
150
- {
151
- "name": "berkeley_cable_routing",
152
- "data_dir": null,
153
- "image_obs_keys": {
154
- "primary": "image",
155
- "high": null,
156
- "nav": null,
157
- "left_wrist": null,
158
- "right_wrist": null
159
- },
160
- "proprio_obs_keys": {
161
- "bimanual": null,
162
- "quadruped": null
163
- },
164
- "proprio_obs_dims": {
165
- "bimanual": 14,
166
- "quadruped": 59
167
- },
168
- "action_normalization_mask": [
169
- true,
170
- true,
171
- true,
172
- true,
173
- true,
174
- true,
175
- false
176
- ],
177
- "language_key": "language_instruction",
178
- "action_proprio_normalization_type": "normal",
179
- "standardize_fn": {
180
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
181
- "name": "berkeley_cable_routing_dataset_transform",
182
- "args": [],
183
- "kwargs": {}
184
- }
185
- },
186
- {
187
- "name": "roboturk",
188
- "data_dir": null,
189
- "image_obs_keys": {
190
- "primary": "front_rgb",
191
- "high": null,
192
- "nav": null,
193
- "left_wrist": null,
194
- "right_wrist": null
195
- },
196
- "proprio_obs_keys": {
197
- "bimanual": null,
198
- "quadruped": null
199
- },
200
- "proprio_obs_dims": {
201
- "bimanual": 14,
202
- "quadruped": 59
203
- },
204
- "action_normalization_mask": [
205
- true,
206
- true,
207
- true,
208
- true,
209
- true,
210
- true,
211
- false
212
- ],
213
- "language_key": "language_instruction",
214
- "action_proprio_normalization_type": "normal",
215
- "standardize_fn": {
216
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
217
- "name": "roboturk_dataset_transform",
218
- "args": [],
219
- "kwargs": {}
220
- }
221
- },
222
- {
223
- "name": "viola",
224
- "data_dir": null,
225
- "image_obs_keys": {
226
- "primary": "agentview_rgb",
227
- "high": null,
228
- "nav": null,
229
- "left_wrist": null,
230
- "right_wrist": null
231
- },
232
- "proprio_obs_keys": {
233
- "bimanual": null,
234
- "quadruped": null
235
- },
236
- "proprio_obs_dims": {
237
- "bimanual": 14,
238
- "quadruped": 59
239
- },
240
- "action_normalization_mask": [
241
- true,
242
- true,
243
- true,
244
- true,
245
- true,
246
- true,
247
- false
248
- ],
249
- "language_key": "language_instruction",
250
- "action_proprio_normalization_type": "normal",
251
- "standardize_fn": {
252
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
253
- "name": "viola_dataset_transform",
254
- "args": [],
255
- "kwargs": {}
256
- }
257
- },
258
- {
259
- "name": "berkeley_autolab_ur5",
260
- "data_dir": null,
261
- "image_obs_keys": {
262
- "primary": "image",
263
- "high": null,
264
- "nav": null,
265
- "left_wrist": null,
266
- "right_wrist": null
267
- },
268
- "proprio_obs_keys": {
269
- "bimanual": null,
270
- "quadruped": null
271
- },
272
- "proprio_obs_dims": {
273
- "bimanual": 14,
274
- "quadruped": 59
275
- },
276
- "action_normalization_mask": [
277
- true,
278
- true,
279
- true,
280
- true,
281
- true,
282
- true,
283
- false
284
- ],
285
- "language_key": "language_instruction",
286
- "action_proprio_normalization_type": "normal",
287
- "standardize_fn": {
288
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
289
- "name": "berkeley_autolab_ur5_dataset_transform",
290
- "args": [],
291
- "kwargs": {}
292
- }
293
- },
294
- {
295
- "name": "toto",
296
- "data_dir": null,
297
- "image_obs_keys": {
298
- "primary": "image",
299
- "high": null,
300
- "nav": null,
301
- "left_wrist": null,
302
- "right_wrist": null
303
- },
304
- "proprio_obs_keys": {
305
- "bimanual": null,
306
- "quadruped": null
307
- },
308
- "proprio_obs_dims": {
309
- "bimanual": 14,
310
- "quadruped": 59
311
- },
312
- "action_normalization_mask": [
313
- true,
314
- true,
315
- true,
316
- true,
317
- true,
318
- true,
319
- false
320
- ],
321
- "language_key": "language_instruction",
322
- "action_proprio_normalization_type": "normal",
323
- "standardize_fn": {
324
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
325
- "name": "toto_dataset_transform",
326
- "args": [],
327
- "kwargs": {}
328
- }
329
- },
330
- {
331
- "name": "language_table",
332
- "data_dir": null,
333
- "image_obs_keys": {
334
- "primary": "rgb",
335
- "high": null,
336
- "nav": null,
337
- "left_wrist": null,
338
- "right_wrist": null
339
- },
340
- "proprio_obs_keys": {
341
- "bimanual": null,
342
- "quadruped": null
343
- },
344
- "proprio_obs_dims": {
345
- "bimanual": 14,
346
- "quadruped": 59
347
- },
348
- "action_normalization_mask": [
349
- true,
350
- true,
351
- true,
352
- true,
353
- true,
354
- true,
355
- false
356
- ],
357
- "language_key": "language_instruction",
358
- "action_proprio_normalization_type": "normal",
359
- "standardize_fn": {
360
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
361
- "name": "language_table_dataset_transform",
362
- "args": [],
363
- "kwargs": {}
364
- }
365
- },
366
- {
367
- "name": "stanford_hydra_dataset_converted_externally_to_rlds",
368
- "data_dir": null,
369
- "image_obs_keys": {
370
- "primary": "image",
371
- "high": null,
372
- "nav": null,
373
- "left_wrist": null,
374
- "right_wrist": null
375
- },
376
- "proprio_obs_keys": {
377
- "bimanual": null,
378
- "quadruped": null
379
- },
380
- "proprio_obs_dims": {
381
- "bimanual": 14,
382
- "quadruped": 59
383
- },
384
- "action_normalization_mask": [
385
- true,
386
- true,
387
- true,
388
- true,
389
- true,
390
- true,
391
- false
392
- ],
393
- "language_key": "language_instruction",
394
- "action_proprio_normalization_type": "normal",
395
- "standardize_fn": {
396
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
397
- "name": "stanford_hydra_dataset_transform",
398
- "args": [],
399
- "kwargs": {}
400
- }
401
- },
402
- {
403
- "name": "austin_buds_dataset_converted_externally_to_rlds",
404
- "data_dir": null,
405
- "image_obs_keys": {
406
- "primary": "image",
407
- "high": null,
408
- "nav": null,
409
- "left_wrist": null,
410
- "right_wrist": null
411
- },
412
- "proprio_obs_keys": {
413
- "bimanual": null,
414
- "quadruped": null
415
- },
416
- "proprio_obs_dims": {
417
- "bimanual": 14,
418
- "quadruped": 59
419
- },
420
- "action_normalization_mask": [
421
- true,
422
- true,
423
- true,
424
- true,
425
- true,
426
- true,
427
- false
428
- ],
429
- "language_key": "language_instruction",
430
- "action_proprio_normalization_type": "normal",
431
- "standardize_fn": {
432
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
433
- "name": "austin_buds_dataset_transform",
434
- "args": [],
435
- "kwargs": {}
436
- }
437
- },
438
- {
439
- "name": "nyu_franka_play_dataset_converted_externally_to_rlds",
440
- "data_dir": null,
441
- "image_obs_keys": {
442
- "primary": "image",
443
- "high": null,
444
- "nav": null,
445
- "left_wrist": null,
446
- "right_wrist": null
447
- },
448
- "proprio_obs_keys": {
449
- "bimanual": null,
450
- "quadruped": null
451
- },
452
- "proprio_obs_dims": {
453
- "bimanual": 14,
454
- "quadruped": 59
455
- },
456
- "action_normalization_mask": [
457
- true,
458
- true,
459
- true,
460
- true,
461
- true,
462
- true,
463
- false
464
- ],
465
- "language_key": "language_instruction",
466
- "action_proprio_normalization_type": "normal",
467
- "standardize_fn": {
468
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
469
- "name": "nyu_franka_play_dataset_transform",
470
- "args": [],
471
- "kwargs": {}
472
- }
473
- },
474
- {
475
- "name": "furniture_bench_dataset_converted_externally_to_rlds",
476
- "data_dir": null,
477
- "image_obs_keys": {
478
- "primary": "image",
479
- "high": null,
480
- "nav": null,
481
- "left_wrist": null,
482
- "right_wrist": null
483
- },
484
- "proprio_obs_keys": {
485
- "bimanual": null,
486
- "quadruped": null
487
- },
488
- "proprio_obs_dims": {
489
- "bimanual": 14,
490
- "quadruped": 59
491
- },
492
- "action_normalization_mask": [
493
- true,
494
- true,
495
- true,
496
- true,
497
- true,
498
- true,
499
- false
500
- ],
501
- "language_key": "language_instruction",
502
- "action_proprio_normalization_type": "normal",
503
- "standardize_fn": {
504
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
505
- "name": "furniture_bench_dataset_transform",
506
- "args": [],
507
- "kwargs": {}
508
- }
509
- },
510
- {
511
- "name": "austin_sailor_dataset_converted_externally_to_rlds",
512
- "data_dir": null,
513
- "image_obs_keys": {
514
- "primary": "image",
515
- "nav": null,
516
- "high": null,
517
- "left_wrist": null,
518
- "right_wrist": null
519
- },
520
- "proprio_obs_keys": {
521
- "bimanual": null,
522
- "quadruped": null
523
- },
524
- "proprio_obs_dims": {
525
- "bimanual": 14,
526
- "quadruped": 59
527
- },
528
- "action_normalization_mask": [
529
- true,
530
- true,
531
- true,
532
- true,
533
- true,
534
- true,
535
- false
536
- ],
537
- "language_key": "language_instruction",
538
- "action_proprio_normalization_type": "normal",
539
- "standardize_fn": {
540
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
541
- "name": "austin_sailor_dataset_transform",
542
- "args": [],
543
- "kwargs": {}
544
- }
545
- },
546
- {
547
- "name": "austin_sirius_dataset_converted_externally_to_rlds",
548
- "data_dir": null,
549
- "image_obs_keys": {
550
- "primary": "image",
551
- "nav": null,
552
- "high": null,
553
- "left_wrist": null,
554
- "right_wrist": null
555
- },
556
- "proprio_obs_keys": {
557
- "bimanual": null,
558
- "quadruped": null
559
- },
560
- "proprio_obs_dims": {
561
- "bimanual": 14,
562
- "quadruped": 59
563
- },
564
- "action_normalization_mask": [
565
- true,
566
- true,
567
- true,
568
- true,
569
- true,
570
- true,
571
- false
572
- ],
573
- "language_key": "language_instruction",
574
- "action_proprio_normalization_type": "normal",
575
- "standardize_fn": {
576
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
577
- "name": "austin_sirius_dataset_transform",
578
- "args": [],
579
- "kwargs": {}
580
- }
581
- },
582
- {
583
- "name": "bc_z",
584
- "data_dir": null,
585
- "image_obs_keys": {
586
- "primary": "image",
587
- "high": null,
588
- "nav": null,
589
- "left_wrist": null,
590
- "right_wrist": null
591
- },
592
- "proprio_obs_keys": {
593
- "bimanual": null,
594
- "quadruped": null
595
- },
596
- "proprio_obs_dims": {
597
- "bimanual": 14,
598
- "quadruped": 59
599
- },
600
- "action_normalization_mask": [
601
- true,
602
- true,
603
- true,
604
- true,
605
- true,
606
- true,
607
- false
608
- ],
609
- "language_key": "language_instruction",
610
- "action_proprio_normalization_type": "normal",
611
- "standardize_fn": {
612
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
613
- "name": "bc_z_dataset_transform",
614
- "args": [],
615
- "kwargs": {}
616
- }
617
- },
618
- {
619
- "name": "dlr_edan_shared_control_converted_externally_to_rlds",
620
- "data_dir": null,
621
- "image_obs_keys": {
622
- "primary": "image",
623
- "high": null,
624
- "nav": null,
625
- "left_wrist": null,
626
- "right_wrist": null
627
- },
628
- "proprio_obs_keys": {
629
- "bimanual": null,
630
- "quadruped": null
631
- },
632
- "proprio_obs_dims": {
633
- "bimanual": 14,
634
- "quadruped": 59
635
- },
636
- "action_normalization_mask": [
637
- true,
638
- true,
639
- true,
640
- true,
641
- true,
642
- true,
643
- false
644
- ],
645
- "language_key": "language_instruction",
646
- "action_proprio_normalization_type": "normal",
647
- "standardize_fn": {
648
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
649
- "name": "dlr_edan_shared_control_dataset_transform",
650
- "args": [],
651
- "kwargs": {}
652
- }
653
- },
654
- {
655
- "name": "iamlab_cmu_pickup_insert_converted_externally_to_rlds",
656
- "data_dir": null,
657
- "image_obs_keys": {
658
- "primary": "image",
659
- "high": null,
660
- "nav": null,
661
- "left_wrist": null,
662
- "right_wrist": null
663
- },
664
- "proprio_obs_keys": {
665
- "bimanual": null,
666
- "quadruped": null
667
- },
668
- "proprio_obs_dims": {
669
- "bimanual": 14,
670
- "quadruped": 59
671
- },
672
- "action_normalization_mask": [
673
- true,
674
- true,
675
- true,
676
- true,
677
- true,
678
- true,
679
- false
680
- ],
681
- "language_key": "language_instruction",
682
- "action_proprio_normalization_type": "normal",
683
- "standardize_fn": {
684
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
685
- "name": "iamlab_pick_insert_dataset_transform",
686
- "args": [],
687
- "kwargs": {}
688
- }
689
- },
690
- {
691
- "name": "utaustin_mutex",
692
- "data_dir": null,
693
- "image_obs_keys": {
694
- "primary": "image",
695
- "high": null,
696
- "nav": null,
697
- "left_wrist": null,
698
- "right_wrist": null
699
- },
700
- "proprio_obs_keys": {
701
- "bimanual": null,
702
- "quadruped": null
703
- },
704
- "proprio_obs_dims": {
705
- "bimanual": 14,
706
- "quadruped": 59
707
- },
708
- "action_normalization_mask": [
709
- true,
710
- true,
711
- true,
712
- true,
713
- true,
714
- true,
715
- false
716
- ],
717
- "language_key": "language_instruction",
718
- "action_proprio_normalization_type": "normal",
719
- "standardize_fn": {
720
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
721
- "name": "utaustin_mutex_dataset_transform",
722
- "args": [],
723
- "kwargs": {}
724
- }
725
- },
726
- {
727
- "name": "berkeley_fanuc_manipulation",
728
- "data_dir": null,
729
- "image_obs_keys": {
730
- "primary": "image",
731
- "high": null,
732
- "nav": null,
733
- "left_wrist": null,
734
- "right_wrist": null
735
- },
736
- "proprio_obs_keys": {
737
- "bimanual": null,
738
- "quadruped": null
739
- },
740
- "proprio_obs_dims": {
741
- "bimanual": 14,
742
- "quadruped": 59
743
- },
744
- "action_normalization_mask": [
745
- true,
746
- true,
747
- true,
748
- true,
749
- true,
750
- true,
751
- false
752
- ],
753
- "language_key": "language_instruction",
754
- "action_proprio_normalization_type": "normal",
755
- "standardize_fn": {
756
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
757
- "name": "berkeley_fanuc_dataset_transform",
758
- "args": [],
759
- "kwargs": {}
760
- }
761
- },
762
- {
763
- "name": "cmu_stretch",
764
- "data_dir": null,
765
- "image_obs_keys": {
766
- "primary": "image",
767
- "high": null,
768
- "nav": null,
769
- "left_wrist": null,
770
- "right_wrist": null
771
- },
772
- "proprio_obs_keys": {
773
- "bimanual": null,
774
- "quadruped": null
775
- },
776
- "proprio_obs_dims": {
777
- "bimanual": 14,
778
- "quadruped": 59
779
- },
780
- "action_normalization_mask": [
781
- true,
782
- true,
783
- true,
784
- true,
785
- true,
786
- true,
787
- false
788
- ],
789
- "language_key": "language_instruction",
790
- "action_proprio_normalization_type": "normal",
791
- "standardize_fn": {
792
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
793
- "name": "cmu_stretch_dataset_transform",
794
- "args": [],
795
- "kwargs": {}
796
- }
797
- },
798
- {
799
- "name": "droid",
800
- "data_dir": null,
801
- "image_obs_keys": {
802
- "primary": "exterior_image_1_left",
803
- "high": null,
804
- "nav": null,
805
- "left_wrist": null,
806
- "right_wrist": null
807
- },
808
- "proprio_obs_keys": {
809
- "bimanual": null,
810
- "quadruped": null
811
- },
812
- "proprio_obs_dims": {
813
- "bimanual": 14,
814
- "quadruped": 59
815
- },
816
- "filter_functions": [
817
- {
818
- "module": "experiments.homer.scripts.configs.cross_embodiment",
819
- "name": "filter_success",
820
- "args": [],
821
- "kwargs": {}
822
- }
823
- ],
824
- "action_normalization_mask": [
825
- true,
826
- true,
827
- true,
828
- true,
829
- true,
830
- true,
831
- false
832
- ],
833
- "language_key": "language_instruction",
834
- "action_proprio_normalization_type": "normal",
835
- "standardize_fn": {
836
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
837
- "name": "droid_dataset_transform",
838
- "args": [],
839
- "kwargs": {}
840
- }
841
- },
842
- {
843
- "name": "aloha_pen_uncap_diverse_dataset",
844
- "data_dir": null,
845
- "image_obs_keys": {
846
- "primary": null,
847
- "high": "cam_high",
848
- "nav": null,
849
- "left_wrist": "cam_left_wrist",
850
- "right_wrist": "cam_right_wrist"
851
- },
852
- "proprio_obs_keys": {
853
- "bimanual": "proprio",
854
- "quadruped": null
855
- },
856
- "proprio_obs_dims": {
857
- "bimanual": 14,
858
- "quadruped": 59
859
- },
860
- "action_normalization_mask": [
861
- true,
862
- true,
863
- true,
864
- true,
865
- true,
866
- true,
867
- false,
868
- true,
869
- true,
870
- true,
871
- true,
872
- true,
873
- true,
874
- false
875
- ],
876
- "language_key": "language_instruction",
877
- "action_proprio_normalization_type": "normal",
878
- "standardize_fn": {
879
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
880
- "name": "aloha_pen_uncap_dataset_transform",
881
- "args": [],
882
- "kwargs": {}
883
- }
884
- },
885
- {
886
- "name": "aloha_dough_cut_dataset",
887
- "data_dir": null,
888
- "image_obs_keys": {
889
- "primary": null,
890
- "high": "cam_high",
891
- "nav": null,
892
- "left_wrist": "cam_left_wrist",
893
- "right_wrist": "cam_right_wrist"
894
- },
895
- "proprio_obs_keys": {
896
- "bimanual": "proprio",
897
- "quadruped": null
898
- },
899
- "proprio_obs_dims": {
900
- "bimanual": 14,
901
- "quadruped": 59
902
- },
903
- "action_normalization_mask": [
904
- true,
905
- true,
906
- true,
907
- true,
908
- true,
909
- true,
910
- false,
911
- true,
912
- true,
913
- true,
914
- true,
915
- true,
916
- true,
917
- false
918
- ],
919
- "language_key": "language_instruction",
920
- "action_proprio_normalization_type": "normal",
921
- "standardize_fn": {
922
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
923
- "name": "aloha_dough_dataset_transform",
924
- "args": [],
925
- "kwargs": {}
926
- }
927
- },
928
- {
929
- "name": "aloha_lucy_dataset",
930
- "data_dir": null,
931
- "image_obs_keys": {
932
- "primary": null,
933
- "high": "cam_high",
934
- "nav": null,
935
- "left_wrist": "cam_left_wrist",
936
- "right_wrist": "cam_right_wrist"
937
- },
938
- "proprio_obs_keys": {
939
- "bimanual": "proprio",
940
- "quadruped": null
941
- },
942
- "proprio_obs_dims": {
943
- "bimanual": 14,
944
- "quadruped": 59
945
- },
946
- "action_normalization_mask": [
947
- true,
948
- true,
949
- true,
950
- true,
951
- true,
952
- true,
953
- false,
954
- true,
955
- true,
956
- true,
957
- true,
958
- true,
959
- true,
960
- false
961
- ],
962
- "language_key": "language_instruction",
963
- "action_proprio_normalization_type": "normal",
964
- "standardize_fn": {
965
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
966
- "name": "aloha_dough_dataset_transform",
967
- "args": [],
968
- "kwargs": {}
969
- }
970
- },
971
- {
972
- "name": "aloha_drawer_dataset",
973
- "data_dir": null,
974
- "image_obs_keys": {
975
- "primary": null,
976
- "high": "cam_high",
977
- "nav": null,
978
- "left_wrist": "cam_left_wrist",
979
- "right_wrist": "cam_right_wrist"
980
- },
981
- "proprio_obs_keys": {
982
- "bimanual": "proprio",
983
- "quadruped": null
984
- },
985
- "proprio_obs_dims": {
986
- "bimanual": 14,
987
- "quadruped": 59
988
- },
989
- "action_normalization_mask": [
990
- true,
991
- true,
992
- true,
993
- true,
994
- true,
995
- true,
996
- false,
997
- true,
998
- true,
999
- true,
1000
- true,
1001
- true,
1002
- true,
1003
- false
1004
- ],
1005
- "language_key": "language_instruction",
1006
- "action_proprio_normalization_type": "normal",
1007
- "standardize_fn": {
1008
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
1009
- "name": "aloha_dough_dataset_transform",
1010
- "args": [],
1011
- "kwargs": {}
1012
- }
1013
- },
1014
- {
1015
- "name": "aloha_pick_place_dataset",
1016
- "data_dir": null,
1017
- "image_obs_keys": {
1018
- "primary": null,
1019
- "high": "cam_high",
1020
- "nav": null,
1021
- "left_wrist": "cam_left_wrist",
1022
- "right_wrist": "cam_right_wrist"
1023
- },
1024
- "proprio_obs_keys": {
1025
- "bimanual": "proprio",
1026
- "quadruped": null
1027
- },
1028
- "proprio_obs_dims": {
1029
- "bimanual": 14,
1030
- "quadruped": 59
1031
- },
1032
- "action_normalization_mask": [
1033
- true,
1034
- true,
1035
- true,
1036
- true,
1037
- true,
1038
- true,
1039
- false,
1040
- true,
1041
- true,
1042
- true,
1043
- true,
1044
- true,
1045
- true,
1046
- false
1047
- ],
1048
- "language_key": "language_instruction",
1049
- "action_proprio_normalization_type": "normal",
1050
- "standardize_fn": {
1051
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
1052
- "name": "aloha_dough_dataset_transform",
1053
- "args": [],
1054
- "kwargs": {}
1055
- }
1056
- },
1057
- {
1058
- "name": "aloha_static_dataset",
1059
- "data_dir": null,
1060
- "image_obs_keys": {
1061
- "primary": null,
1062
- "high": "cam_high",
1063
- "nav": null,
1064
- "left_wrist": "cam_left_wrist",
1065
- "right_wrist": "cam_right_wrist"
1066
- },
1067
- "proprio_obs_keys": {
1068
- "bimanual": "proprio",
1069
- "quadruped": null
1070
- },
1071
- "proprio_obs_dims": {
1072
- "bimanual": 14,
1073
- "quadruped": 59
1074
- },
1075
- "action_normalization_mask": [
1076
- true,
1077
- true,
1078
- true,
1079
- true,
1080
- true,
1081
- true,
1082
- false,
1083
- true,
1084
- true,
1085
- true,
1086
- true,
1087
- true,
1088
- true,
1089
- false
1090
- ],
1091
- "language_key": "language_instruction",
1092
- "action_proprio_normalization_type": "normal",
1093
- "standardize_fn": {
1094
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
1095
- "name": "aloha_dough_dataset_transform",
1096
- "args": [],
1097
- "kwargs": {}
1098
- }
1099
- },
1100
- {
1101
- "name": "aloha_sushi_cut_full_dataset",
1102
- "data_dir": null,
1103
- "image_obs_keys": {
1104
- "primary": null,
1105
- "high": "cam_high",
1106
- "nav": null,
1107
- "left_wrist": "cam_left_wrist",
1108
- "right_wrist": "cam_right_wrist"
1109
- },
1110
- "proprio_obs_keys": {
1111
- "bimanual": "proprio",
1112
- "quadruped": null
1113
- },
1114
- "proprio_obs_dims": {
1115
- "bimanual": 14,
1116
- "quadruped": 59
1117
- },
1118
- "action_normalization_mask": [
1119
- true,
1120
- true,
1121
- true,
1122
- true,
1123
- true,
1124
- true,
1125
- false,
1126
- true,
1127
- true,
1128
- true,
1129
- true,
1130
- true,
1131
- true,
1132
- false
1133
- ],
1134
- "language_key": "language_instruction",
1135
- "action_proprio_normalization_type": "normal",
1136
- "standardize_fn": {
1137
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
1138
- "name": "aloha_dough_dataset_transform",
1139
- "args": [],
1140
- "kwargs": {}
1141
- }
1142
- },
1143
- {
1144
- "name": "bridge_dataset",
1145
- "data_dir": null,
1146
- "image_obs_keys": {
1147
- "primary": "image_0",
1148
- "high": null,
1149
- "nav": null,
1150
- "left_wrist": null,
1151
- "right_wrist": null
1152
- },
1153
- "proprio_obs_keys": {
1154
- "bimanual": null,
1155
- "quadruped": null
1156
- },
1157
- "proprio_obs_dims": {
1158
- "bimanual": 14,
1159
- "quadruped": 59
1160
- },
1161
- "action_normalization_mask": [
1162
- true,
1163
- true,
1164
- true,
1165
- true,
1166
- true,
1167
- true,
1168
- false
1169
- ],
1170
- "language_key": "language_instruction",
1171
- "action_proprio_normalization_type": "normal",
1172
- "standardize_fn": {
1173
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
1174
- "name": "bridge_dataset_transform",
1175
- "args": [],
1176
- "kwargs": {}
1177
- }
1178
- },
1179
- {
1180
- "name": "go1",
1181
- "data_dir": null,
1182
- "image_obs_keys": {
1183
- "primary": null,
1184
- "high": null,
1185
- "nav": null,
1186
- "left_wrist": null,
1187
- "right_wrist": null
1188
- },
1189
- "proprio_obs_keys": {
1190
- "bimanual": null,
1191
- "quadruped": "proprio"
1192
- },
1193
- "proprio_obs_dims": {
1194
- "bimanual": 14,
1195
- "quadruped": 59
1196
- },
1197
- "action_normalization_mask": [
1198
- true,
1199
- true,
1200
- true,
1201
- true,
1202
- true,
1203
- true,
1204
- true,
1205
- true,
1206
- true,
1207
- true,
1208
- true,
1209
- true
1210
- ],
1211
- "language_key": "language_instruction",
1212
- "action_proprio_normalization_type": "normal",
1213
- "standardize_fn": {
1214
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
1215
- "name": "go1_dataset_transform",
1216
- "args": [],
1217
- "kwargs": {}
1218
- }
1219
- },
1220
- {
1221
- "name": "droid_wipe",
1222
- "data_dir": null,
1223
- "image_obs_keys": {
1224
- "primary": "exterior_image_2_left",
1225
- "high": null,
1226
- "nav": null,
1227
- "left_wrist": null,
1228
- "right_wrist": null
1229
- },
1230
- "proprio_obs_keys": {
1231
- "bimanual": null,
1232
- "quadruped": null
1233
- },
1234
- "proprio_obs_dims": {
1235
- "bimanual": 14,
1236
- "quadruped": 59
1237
- },
1238
- "action_normalization_mask": [
1239
- true,
1240
- true,
1241
- true,
1242
- true,
1243
- true,
1244
- true,
1245
- false
1246
- ],
1247
- "language_key": "language_instruction",
1248
- "action_proprio_normalization_type": "normal",
1249
- "standardize_fn": {
1250
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
1251
- "name": "droid_dataset_transform",
1252
- "args": [],
1253
- "kwargs": {}
1254
- }
1255
- },
1256
- {
1257
- "name": "omnimimic_gnm_dataset",
1258
- "data_dir": null,
1259
- "image_obs_keys": {
1260
- "primary": null,
1261
- "high": null,
1262
- "nav": "image",
1263
- "left_wrist": null,
1264
- "right_wrist": null
1265
- },
1266
- "proprio_obs_keys": {
1267
- "bimanual": null,
1268
- "quadruped": null
1269
- },
1270
- "proprio_obs_dims": {
1271
- "bimanual": 14,
1272
- "quadruped": 59
1273
- },
1274
- "action_normalization_mask": [
1275
- true,
1276
- true
1277
- ],
1278
- "language_key": "language_instruction",
1279
- "action_proprio_normalization_type": "normal",
1280
- "standardize_fn": {
1281
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
1282
- "name": "omnimimic_gnm_transform",
1283
- "args": [],
1284
- "kwargs": {}
1285
- }
1286
- },
1287
- {
1288
- "name": "fractal20220817_data",
1289
- "data_dir": null,
1290
- "image_obs_keys": {
1291
- "primary": "image",
1292
- "high": null,
1293
- "nav": null,
1294
- "left_wrist": null,
1295
- "right_wrist": null
1296
- },
1297
- "proprio_obs_keys": {
1298
- "bimanual": null,
1299
- "quadruped": null
1300
- },
1301
- "proprio_obs_dims": {
1302
- "bimanual": 14,
1303
- "quadruped": 59
1304
- },
1305
- "action_normalization_mask": [
1306
- true,
1307
- true,
1308
- true,
1309
- true,
1310
- true,
1311
- true,
1312
- false
1313
- ],
1314
- "language_key": "language_instruction",
1315
- "action_proprio_normalization_type": "normal",
1316
- "standardize_fn": {
1317
- "module": "crossformer.data.oxe.oxe_standardization_transforms",
1318
- "name": "rt1_dataset_transform",
1319
- "args": [],
1320
- "kwargs": {}
1321
- }
1322
- }
1323
- ],
1324
- "frame_transform_kwargs": {
1325
- "image_augment_kwargs": {
1326
- "high": {
1327
- "augment_order": [
1328
- "random_resized_crop",
1329
- "random_brightness",
1330
- "random_contrast",
1331
- "random_saturation",
1332
- "random_hue"
1333
- ],
1334
- "random_brightness": [
1335
- 0.1
1336
- ],
1337
- "random_contrast": [
1338
- 0.9,
1339
- 1.1
1340
- ],
1341
- "random_hue": [
1342
- 0.05
1343
- ],
1344
- "random_resized_crop": {
1345
- "ratio": [
1346
- 0.75,
1347
- 1.3333333333333333
1348
- ],
1349
- "scale": [
1350
- 0.9,
1351
- 1.0
1352
- ]
1353
- },
1354
- "random_saturation": [
1355
- 0.9,
1356
- 1.1
1357
- ]
1358
- },
1359
- "left_wrist": {
1360
- "augment_order": [
1361
- "random_resized_crop",
1362
- "random_brightness",
1363
- "random_contrast",
1364
- "random_saturation",
1365
- "random_hue"
1366
- ],
1367
- "random_brightness": [
1368
- 0.1
1369
- ],
1370
- "random_contrast": [
1371
- 0.9,
1372
- 1.1
1373
- ],
1374
- "random_hue": [
1375
- 0.05
1376
- ],
1377
- "random_resized_crop": {
1378
- "ratio": [
1379
- 0.75,
1380
- 1.3333333333333333
1381
- ],
1382
- "scale": [
1383
- 0.9,
1384
- 1.0
1385
- ]
1386
- },
1387
- "random_saturation": [
1388
- 0.9,
1389
- 1.1
1390
- ]
1391
- },
1392
- "nav": {
1393
- "augment_order": [
1394
- "random_resized_crop",
1395
- "random_brightness",
1396
- "random_contrast",
1397
- "random_saturation",
1398
- "random_hue"
1399
- ],
1400
- "random_brightness": [
1401
- 0.1
1402
- ],
1403
- "random_contrast": [
1404
- 0.9,
1405
- 1.1
1406
- ],
1407
- "random_hue": [
1408
- 0.05
1409
- ],
1410
- "random_resized_crop": {
1411
- "ratio": [
1412
- 0.9,
1413
- 1.1
1414
- ],
1415
- "scale": [
1416
- 0.8,
1417
- 1.0
1418
- ]
1419
- },
1420
- "random_saturation": [
1421
- 0.9,
1422
- 1.1
1423
- ]
1424
- },
1425
- "primary": {
1426
- "augment_order": [
1427
- "random_resized_crop",
1428
- "random_brightness",
1429
- "random_contrast",
1430
- "random_saturation",
1431
- "random_hue"
1432
- ],
1433
- "random_brightness": [
1434
- 0.1
1435
- ],
1436
- "random_contrast": [
1437
- 0.9,
1438
- 1.1
1439
- ],
1440
- "random_hue": [
1441
- 0.05
1442
- ],
1443
- "random_resized_crop": {
1444
- "ratio": [
1445
- 0.9,
1446
- 1.1
1447
- ],
1448
- "scale": [
1449
- 0.8,
1450
- 1.0
1451
- ]
1452
- },
1453
- "random_saturation": [
1454
- 0.9,
1455
- 1.1
1456
- ]
1457
- },
1458
- "right_wrist": {
1459
- "augment_order": [
1460
- "random_resized_crop",
1461
- "random_brightness",
1462
- "random_contrast",
1463
- "random_saturation",
1464
- "random_hue"
1465
- ],
1466
- "random_brightness": [
1467
- 0.1
1468
- ],
1469
- "random_contrast": [
1470
- 0.9,
1471
- 1.1
1472
- ],
1473
- "random_hue": [
1474
- 0.05
1475
- ],
1476
- "random_resized_crop": {
1477
- "ratio": [
1478
- 0.75,
1479
- 1.3333333333333333
1480
- ],
1481
- "scale": [
1482
- 0.9,
1483
- 1.0
1484
- ]
1485
- },
1486
- "random_saturation": [
1487
- 0.9,
1488
- 1.1
1489
- ]
1490
- }
1491
- },
1492
- "num_parallel_calls": 200,
1493
- "resize_size": {
1494
- "high": [
1495
- 224,
1496
- 224
1497
- ],
1498
- "left_wrist": [
1499
- 224,
1500
- 224
1501
- ],
1502
- "nav": [
1503
- 224,
1504
- 224
1505
- ],
1506
- "primary": [
1507
- 224,
1508
- 224
1509
- ],
1510
- "right_wrist": [
1511
- 224,
1512
- 224
1513
- ]
1514
- }
1515
- },
1516
- "sample_weights": [
1517
- 0.021755552811740044,
1518
- 0.009986998241552502,
1519
- 0.0023179438302583103,
1520
- 0.0016371801232614254,
1521
- 0.0008888419195460733,
1522
- 0.007874885740329124,
1523
- 0.0032054418194781,
1524
- 0.004113224757060238,
1525
- 0.006839324427193265,
1526
- 0.01479473259297815,
1527
- 0.015045048015813084,
1528
- 0.0007163148639093663,
1529
- 0.002826978440249719,
1530
- 0.008290489894059044,
1531
- 0.007414589603576858,
1532
- 0.005878414243900214,
1533
- 0.021755552811740044,
1534
- 0.0001874782805166165,
1535
- 0.0030709017944702635,
1536
- 0.007599149035416076,
1537
- 0.0026296096724881066,
1538
- 0.0005253087662862543,
1539
- 0.0002175555281174004,
1540
- 0.085,
1541
- 0.014166666666666666,
1542
- 0.014166666666666666,
1543
- 0.014166666666666666,
1544
- 0.014166666666666666,
1545
- 0.014166666666666666,
1546
- 0.014166666666666666,
1547
- 0.17,
1548
- 0.085,
1549
- 0.085,
1550
- 0.17,
1551
- 0.17
1552
- ],
1553
- "shuffle_buffer_size": 25000,
1554
- "traj_read_threads": 48,
1555
- "traj_transform_kwargs": {
1556
- "action_horizon": 100,
1557
- "goal_relabeling_kwargs": {
1558
- "max_goal_distance": 15
1559
- },
1560
- "goal_relabeling_strategy": "uniform",
1561
- "head_to_dataset": {
1562
- "bimanual": [
1563
- "aloha_pen_uncap_diverse_dataset",
1564
- "aloha_dough_cut_dataset",
1565
- "aloha_lucy_dataset",
1566
- "aloha_drawer_dataset",
1567
- "aloha_pick_place_dataset",
1568
- "aloha_static_dataset",
1569
- "aloha_sushi_cut_full_dataset"
1570
- ],
1571
- "nav": [
1572
- "omnimimic_gnm_dataset"
1573
- ],
1574
- "quadruped": [
1575
- "go1"
1576
- ],
1577
- "single_arm": [
1578
- "bridge_dataset",
1579
- "fractal20220817_data",
1580
- "kuka",
1581
- "taco_play",
1582
- "taco_extra",
1583
- "jaco_play",
1584
- "berkeley_cable_routing",
1585
- "roboturk",
1586
- "nyu_door_opening_surprising_effectiveness",
1587
- "viola",
1588
- "berkeley_autolab_ur5",
1589
- "toto",
1590
- "language_table",
1591
- "stanford_hydra_dataset_converted_externally_to_rlds",
1592
- "austin_buds_dataset_converted_externally_to_rlds",
1593
- "nyu_franka_play_dataset_converted_externally_to_rlds",
1594
- "furniture_bench_dataset_converted_externally_to_rlds",
1595
- "austin_sailor_dataset_converted_externally_to_rlds",
1596
- "austin_sirius_dataset_converted_externally_to_rlds",
1597
- "bc_z",
1598
- "dlr_edan_shared_control_converted_externally_to_rlds",
1599
- "iamlab_cmu_pickup_insert_converted_externally_to_rlds",
1600
- "utaustin_mutex",
1601
- "berkeley_fanuc_manipulation",
1602
- "cmu_stretch",
1603
- "droid",
1604
- "droid_wipe"
1605
- ]
1606
- },
1607
- "max_action_dim": 14,
1608
- "subsample_length": 100,
1609
- "task_augment_kwargs": {
1610
- "keep_image_prob": 1.0
1611
- },
1612
- "task_augment_strategy": "delete_task_conditioning",
1613
- "window_size": 5
1614
- },
1615
- "traj_transform_threads": 48
1616
- },
1617
- "eval_datasets": [],
1618
- "eval_interval": 5e+20,
1619
- "log_interval": 500,
1620
- "model": {
1621
- "heads": {
1622
- "bimanual": {
1623
- "args": [],
1624
- "kwargs": {
1625
- "action_dim": 14,
1626
- "action_horizon": 100,
1627
- "clip_pred": false,
1628
- "constrain_loss_dims": true,
1629
- "loss_weight": 1.0,
1630
- "num_preds": 14,
1631
- "pool_strategy": "pass",
1632
- "readout_key": "readout_bimanual"
1633
- },
1634
- "module": "crossformer.model.components.action_heads",
1635
- "name": "L1ActionHead"
1636
- },
1637
- "nav": {
1638
- "args": [],
1639
- "kwargs": {
1640
- "action_dim": 2,
1641
- "action_horizon": 4,
1642
- "clip_pred": false,
1643
- "constrain_loss_dims": true,
1644
- "loss_weight": 1.0,
1645
- "num_preds": 2,
1646
- "pool_strategy": "pass",
1647
- "readout_key": "readout_nav"
1648
- },
1649
- "module": "crossformer.model.components.action_heads",
1650
- "name": "L1ActionHead"
1651
- },
1652
- "quadruped": {
1653
- "args": [],
1654
- "kwargs": {
1655
- "action_dim": 12,
1656
- "action_horizon": 1,
1657
- "clip_pred": false,
1658
- "constrain_loss_dims": true,
1659
- "loss_weight": 1.0,
1660
- "num_preds": 12,
1661
- "pool_strategy": "pass",
1662
- "readout_key": "readout_quadruped"
1663
- },
1664
- "module": "crossformer.model.components.action_heads",
1665
- "name": "L1ActionHead"
1666
- },
1667
- "single_arm": {
1668
- "args": [],
1669
- "kwargs": {
1670
- "action_dim": 7,
1671
- "action_horizon": 4,
1672
- "clip_pred": false,
1673
- "constrain_loss_dims": true,
1674
- "loss_weight": 1.0,
1675
- "num_preds": 7,
1676
- "pool_strategy": "pass",
1677
- "readout_key": "readout_single_arm"
1678
- },
1679
- "module": "crossformer.model.components.action_heads",
1680
- "name": "L1ActionHead"
1681
- }
1682
- },
1683
- "max_horizon": 10,
1684
- "observation_tokenizers": {
1685
- "bimanual": {
1686
- "args": [],
1687
- "kwargs": {
1688
- "dropout_rate": 0.2,
1689
- "obs_keys": [
1690
- "proprio_bimanual"
1691
- ]
1692
- },
1693
- "module": "crossformer.model.components.tokenizers",
1694
- "name": "LowdimObsTokenizer"
1695
- },
1696
- "high": {
1697
- "args": [],
1698
- "kwargs": {
1699
- "encoder": {
1700
- "args": [],
1701
- "kwargs": {},
1702
- "module": "crossformer.model.components.vit_encoders",
1703
- "name": "ResNet26FILM"
1704
- },
1705
- "obs_stack_keys": [
1706
- "image_high"
1707
- ],
1708
- "task_film_keys": [
1709
- "language_instruction"
1710
- ],
1711
- "task_stack_keys": [
1712
- "image_high"
1713
- ]
1714
- },
1715
- "module": "crossformer.model.components.tokenizers",
1716
- "name": "ImageTokenizer"
1717
- },
1718
- "left": {
1719
- "args": [],
1720
- "kwargs": {
1721
- "encoder": {
1722
- "args": [],
1723
- "kwargs": {},
1724
- "module": "crossformer.model.components.vit_encoders",
1725
- "name": "ResNet26FILM"
1726
- },
1727
- "obs_stack_keys": [
1728
- "image_left_wrist"
1729
- ],
1730
- "task_film_keys": [
1731
- "language_instruction"
1732
- ],
1733
- "task_stack_keys": []
1734
- },
1735
- "module": "crossformer.model.components.tokenizers",
1736
- "name": "ImageTokenizer"
1737
- },
1738
- "nav": {
1739
- "args": [],
1740
- "kwargs": {
1741
- "encoder": {
1742
- "args": [],
1743
- "kwargs": {},
1744
- "module": "crossformer.model.components.vit_encoders",
1745
- "name": "ResNet26"
1746
- },
1747
- "obs_stack_keys": [
1748
- "image_nav"
1749
- ],
1750
- "task_film_keys": [],
1751
- "task_stack_keys": [
1752
- "image_nav"
1753
- ]
1754
- },
1755
- "module": "crossformer.model.components.tokenizers",
1756
- "name": "ImageTokenizer"
1757
- },
1758
- "primary": {
1759
- "args": [],
1760
- "kwargs": {
1761
- "encoder": {
1762
- "args": [],
1763
- "kwargs": {},
1764
- "module": "crossformer.model.components.vit_encoders",
1765
- "name": "ResNet26FILM"
1766
- },
1767
- "obs_stack_keys": [
1768
- "image_primary"
1769
- ],
1770
- "task_film_keys": [
1771
- "language_instruction"
1772
- ],
1773
- "task_stack_keys": [
1774
- "image_primary"
1775
- ]
1776
- },
1777
- "module": "crossformer.model.components.tokenizers",
1778
- "name": "ImageTokenizer"
1779
- },
1780
- "quadruped": {
1781
- "args": [],
1782
- "kwargs": {
1783
- "obs_keys": [
1784
- "proprio_quadruped"
1785
- ]
1786
- },
1787
- "module": "crossformer.model.components.tokenizers",
1788
- "name": "LowdimObsTokenizer"
1789
- },
1790
- "right": {
1791
- "args": [],
1792
- "kwargs": {
1793
- "encoder": {
1794
- "args": [],
1795
- "kwargs": {},
1796
- "module": "crossformer.model.components.vit_encoders",
1797
- "name": "ResNet26FILM"
1798
- },
1799
- "obs_stack_keys": [
1800
- "image_right_wrist"
1801
- ],
1802
- "task_film_keys": [
1803
- "language_instruction"
1804
- ],
1805
- "task_stack_keys": []
1806
- },
1807
- "module": "crossformer.model.components.tokenizers",
1808
- "name": "ImageTokenizer"
1809
- }
1810
- },
1811
- "readouts": {
1812
- "bimanual": 100,
1813
- "nav": 4,
1814
- "quadruped": 1,
1815
- "single_arm": 4
1816
- },
1817
- "repeat_task_tokens": true,
1818
- "task_tokenizers": {},
1819
- "token_embedding_size": 512,
1820
- "transformer_kwargs": {
1821
- "attention_dropout_rate": 0.0,
1822
- "dropout_rate": 0.1,
1823
- "mlp_dim": 2048,
1824
- "num_attention_heads": 8,
1825
- "num_layers": 12,
1826
- "repeat_pos_enc": true
1827
- },
1828
- "use_correct_attention": true
1829
- },
1830
- "num_steps": 300000,
1831
- "optimizer": {
1832
- "clip_gradient": 1.0,
1833
- "frozen_keys": [],
1834
- "learning_rate": {
1835
- "init_value": 0.0,
1836
- "name": "rsqrt",
1837
- "peak_value": 0.0003,
1838
- "timescale": 10000,
1839
- "warmup_steps": 2000
1840
- },
1841
- "weight_decay": 0.1
1842
- },
1843
- "prefetch_num_batches": 0,
1844
- "pretrained_loaders": [
1845
- {
1846
- "module": "experiments.sudeep.aloha.resnet_pt",
1847
- "name": "resnet_26_loader",
1848
- "args": [],
1849
- "kwargs": {
1850
- "restore_path": ""
1851
- }
1852
- }
1853
- ],
1854
- "resume_path": null,
1855
- "save_dir": null,
1856
- "save_interval": 10000,
1857
- "seed": 42,
1858
- "skip_norm_keys": [
1859
- "proprio_bimanual"
1860
- ],
1861
- "start_step": null,
1862
- "text_processor": {
1863
- "args": [],
1864
- "kwargs": {},
1865
- "module": "crossformer.data.utils.text_processing",
1866
- "name": "UniversalSentenceEncoder"
1867
- },
1868
- "val_kwargs": {
1869
- "num_val_batches": 16,
1870
- "val_shuffle_buffer_size": 1000
1871
- },
1872
- "viz_datasets": [],
1873
- "viz_interval": 5e+20,
1874
- "viz_kwargs": {
1875
- "eval_batch_size": 128,
1876
- "samples_per_state": 8,
1877
- "trajs_for_metrics": 100,
1878
- "trajs_for_viz": 8
1879
- },
1880
- "wandb": {
1881
- "entity": null,
1882
- "group": null,
1883
- "project": "crossformer"
1884
- },
1885
- "wandb_resume_id": null,
1886
- "window_size": 5
1887
- }