hma-base-cont / config.json
liruiw's picture
Upload 4 files
179feba verified
{
"Diffusion": true,
"S": 1024,
"T": 12,
"action_contrastive_loss": false,
"action_domains": [
"language_table",
"ucsd_pick_and_place_dataset_converted_externally_to_rlds",
"kaist_nonprehensile_converted_externally_to_rlds",
"ucsd_kitchen_dataset_converted_externally_to_rlds",
"utokyo_xarm_bimanual_converted_externally_to_rlds",
"stanford_hydra_dataset_converted_externally_to_rlds",
"austin_sirius_dataset_converted_externally_to_rlds",
"berkeley_fanuc_manipulation",
"berkeley_mvp_converted_externally_to_rlds",
"berkeley_rpt_converted_externally_to_rlds",
"cmu_play_fusion",
"iamlab_cmu_pickup_insert_converted_externally_to_rlds",
"qut_dexterous_manpulation",
"robo_net",
"dlr_sara_grid_clamp_converted_externally_to_rlds",
"cmu_stretch",
"columbia_cairlab_pusht_real",
"droid",
"toto",
"io_ai_tech",
"dobbe",
"berkeley_gnm_cory_hall",
"plex_robosuite",
"berkeley_cable_routing",
"imperial_wrist_dataset",
"bc_z",
"kuka",
"roboturk",
"robomimic",
"nyu_door_opening_surprising_effectiveness"
],
"action_loss_weight": 1.0,
"action_network": "modulate",
"action_stats": [
[
[
0.00014842326345387846,
-0.0005635050474666059
],
[
0.030163198709487915,
0.042305462062358856
]
],
[
[
0.14697618782520294,
-0.12370482087135315,
0.051797714084386826,
-0.07087255269289017
],
[
0.48446422815322876,
0.4629215896129608,
0.5406527519226074,
0.8932808637619019
]
],
[
[
0.0019365031039342284,
0.00024300716177094728,
0.0008035349892452359,
-0.0021898974664509296,
4.0033126424532384e-05,
-0.0037320367991924286,
181.3382110595703,
170.906005859375,
186.00167846679688,
153.71453857421875,
174.13552856445312,
83.48700714111328,
32.40367889404297,
1.0105239152908325,
0.70769864320755,
0.33714282512664795,
0.4880707859992981,
0.49914246797561646,
0.7389975786209106,
1.229773998260498
],
[
0.014657468535006046,
0.016509365290403366,
0.012914449907839298,
0.023157890886068344,
0.020476851612329483,
0.019903959706425667,
27.33956527709961,
34.60658645629883,
25.291311264038086,
53.12702941894531,
34.06013870239258,
50.88619613647461,
33.19802474975586,
0.5348116159439087,
0.4462398290634155,
0.13059484958648682,
0.37823718786239624,
0.3443543016910553,
0.4008789658546448,
0.5644641518592834
]
],
[
[
408.48406982421875,
118.63397979736328,
198.41452026367188,
-121.96654510498047,
-34.39997863769531,
52.22698974609375,
0.7438188791275024,
0.038725052028894424
],
[
122.93132019042969,
107.72244262695312,
128.7881317138672,
115.888916015625,
27.235536575317383,
40.505306243896484,
0.43652451038360596,
0.1929423063993454
]
],
[
[
0.46141278743743896,
0.10542168468236923,
0.25353577733039856,
-1.685599684715271,
-0.05627294257283211,
-0.4933978319168091,
0.34305593371391296,
0.44558027386665344,
0.5123444199562073,
0.2677648663520813,
1.277772307395935,
0.12375026196241379,
0.11488401144742966,
0.33085882663726807
],
[
0.053879205137491226,
0.05707748979330063,
0.04467933997511864,
2.469133138656616,
0.18709321320056915,
0.22889232635498047,
0.47383636236190796,
0.06301931291818619,
0.041924599558115005,
0.047896090894937515,
2.701061248779297,
0.2972114384174347,
0.7424992918968201,
0.4667799174785614
]
],
[
[
0.0007764044567011297,
0.0001343307230854407,
-0.00026648343191482127,
0.0013218839885666966,
-0.004740390460938215,
0.002773461164906621,
0.5106820464134216
],
[
0.008042743429541588,
0.00913731288164854,
0.009599598124623299,
0.04121660068631172,
0.038332853466272354,
0.04602774232625961,
0.4999658763408661
]
],
[
[
0.07727599143981934,
0.03225162252783775,
0.04257211461663246,
0.0,
0.0,
-0.01612210087478161,
0.13071605563163757
],
[
0.3917539417743683,
0.30044373869895935,
0.27837157249450684,
0.0,
0.0,
0.081514872610569,
0.9911611676216125
]
],
[
[
0.0007766556227579713,
-0.000321519240969792,
-0.0014813995221629739,
-0.0007485907408408821,
-0.00015667964180465788,
0.0001845337392296642
],
[
0.003409236203879118,
0.004994169808924198,
0.005332312546670437,
0.007559089455753565,
0.004051606170833111,
0.008588160388171673
]
],
[
[
-6.743222911609337e-05,
0.0031809681095182896,
-0.00013550207950174809,
-0.0009742751135490835,
-8.3738968896796e-06,
-0.002912015886977315,
-0.0006995691219344735,
0.48066604137420654
],
[
0.002549938391894102,
0.012658610939979553,
0.005411175545305014,
0.018054410815238953,
0.0016273874789476395,
0.021100502461194992,
0.005715933162719011,
0.4996056854724884
]
],
[
[
0.00014941584959160537,
-0.00028024936909787357,
-8.037472071009688e-06,
-0.00032872759038582444,
1.9844068447127938e-05,
3.272057801950723e-05,
8.096991950878873e-05,
0.4784493148326874
],
[
0.0015258367639034986,
0.004546448588371277,
0.0007782428874634206,
0.003019175725057721,
0.0010663573630154133,
0.005132743623107672,
0.004171756561845541,
0.4998187720775604
]
],
[
[
0.000523168477229774,
3.85410530725494e-05,
-0.00017000196385197341,
-0.00029378157341852784,
-0.00036922883009538054,
-0.0001573827030370012,
5.717058229492977e-06,
0.5699702501296997,
0.002427969593554735
],
[
0.0018014844972640276,
0.002389610279351473,
0.0018651892896741629,
0.039326585829257965,
0.03775598481297493,
0.005358702037483454,
0.007674811407923698,
0.49466049671173096,
0.04917134344577789
]
],
[
[
0.5280895829200745,
0.02888699807226658,
0.18680934607982635,
-0.01308287400752306,
0.9998903870582581,
0.003612307133153081,
0.016001908108592033,
0.5531076192855835
],
[
0.08082365244626999,
0.11135152727365494,
0.07754139602184296,
0.01604105904698372,
0.0006265711272135377,
0.007812995463609695,
0.013805469498038292,
0.497190922498703
]
],
[
[
3.650687176559586e-06,
-0.000507326505612582,
-0.00031988348928280175,
0.000982428900897503,
-3.8030557334423065e-05,
-0.002412878442555666,
0.004487304482609034,
-0.0035084427800029516
],
[
0.012881123460829258,
0.015523286536335945,
0.012135118246078491,
0.0009839057456701994,
0.0022208373993635178,
0.024184072390198708,
0.9997038841247559,
0.027473121881484985
]
],
[
[
-1.2117172445869073e-05,
1.6497699107276276e-05,
-0.008070996962487698,
-3.756756632355973e-05,
-0.02855828031897545
],
[
0.03243051841855049,
0.03239370137453079,
0.09075836837291718,
0.17676453292369843,
0.9996473789215088
]
],
[
[
-1.662798604229465e-05,
-4.2423445847816765e-05,
-0.00039035530062392354,
2.9382475986494683e-05,
9.349627362098545e-05,
7.735285180388018e-05,
1.0
],
[
0.0004397016600705683,
0.0005161615554243326,
0.0012931948294863105,
0.0005689726676791906,
0.0007594820926897228,
0.0007169033051468432,
0.0
]
],
[
[
0.0003590668202377856,
0.0,
0.001637771725654602,
0.0,
0.0,
0.0,
0.39824214577674866,
0.0054051512852311134
],
[
0.004081381484866142,
0.0,
0.003803750965744257,
0.0,
0.0,
0.0,
0.48956871032714844,
0.07332666963338852
]
],
[
[
0.0,
0.0,
0.0,
0.0,
0.009795918129384518,
-0.0013581214006990194,
0.0016117944614961743,
0.0
],
[
0.0,
0.0,
0.0,
0.0,
0.09848489612340927,
0.013396660797297955,
0.01613754965364933,
0.0
]
],
[
[
0.5393196940422058,
0.0013354304246604443,
0.3156941831111908,
0.3164699971675873,
-0.09018929302692413,
-0.049339085817337036,
0.40983372926712036
],
[
0.11741136759519577,
0.17491821944713593,
0.16181626915931702,
2.7440731525421143,
0.3496827483177185,
0.7598394155502319,
0.43021807074546814
]
],
[
[
0.0,
-0.6654278039932251,
0.1888580173254013,
0.03210142254829407,
0.00612324383109808,
0.38309070467948914,
0.009382354095578194,
0.3636060655117035
],
[
0.0,
0.5778681635856628,
0.296415776014328,
0.3222154378890991,
0.07795067131519318,
0.12293250113725662,
0.19515110552310944,
0.10152395814657211
]
],
[
[
2.957821561722085e-05,
0.00012851174687966704,
-0.00010689908231142908,
-5.97012804064434e-05,
0.00022397778229787946,
6.999688048381358e-05,
0.09176551550626755
],
[
0.0028307351749390364,
0.002651946386322379,
0.0025581379886716604,
0.018357520923018456,
0.025164088234305382,
0.024045433849096298,
0.5909407734870911
]
],
[
[
-0.00011003677354892716,
0.001112840254791081,
-0.00011267208174103871,
-7.512857700930908e-05,
-0.0006745870341546834,
-5.703312126570381e-05,
0.6326711177825928
],
[
0.043496448546648026,
0.04464876651763916,
0.12467490881681442,
0.005452098790556192,
0.011218013241887093,
0.00624604569748044,
0.39724212884902954
]
],
[
[
0.06122741475701332,
0.0038701200392097235
],
[
0.025848353281617165,
0.0030985879711806774
]
],
[
[
0.060740936547517776,
0.053044628351926804,
-0.04193497821688652,
-0.000676018709782511,
-0.0015231040306389332,
0.004273010417819023,
-0.05146767199039459
],
[
0.34811627864837646,
0.46360549330711365,
0.4386604428291321,
0.023519689217209816,
0.019431674852967262,
0.1616460531949997,
0.9985936880111694
]
],
[
[
0.0,
0.0,
0.049097269773483276,
0.07730317115783691,
-0.07240438461303711,
0.02373087964951992,
0.10240031778812408
],
[
0.0,
0.0,
0.3465680181980133,
0.2670310139656067,
0.1823672205209732,
0.1818883866071701,
0.21153412759304047
]
],
[
[
0.0003212452866137028,
-0.0010083492379635572,
0.00092211680021137,
0.001238797907717526,
-4.7416866436833516e-05,
2.5170325898216106e-05,
0.5775114297866821,
0.023655574768781662
],
[
0.003074005013331771,
0.0067475223913788795,
0.010976199060678482,
0.024110153317451477,
0.003232581540942192,
0.0039499602280557156,
0.49393802881240845,
0.15197230875492096
]
],
[
[
0.00028649900923483074,
-0.008722408674657345,
-0.03069918043911457,
-0.0008381816442124546,
-0.016971644014120102,
-0.05745099112391472,
-0.0026707653887569904,
-0.024192843586206436,
-0.07967454195022583,
-0.004741811193525791,
-0.030430495738983154,
-0.09769809991121292,
-0.006405732128769159,
-0.03590046241879463,
-0.11270859092473984,
-0.007021840196102858,
-0.04052259027957916,
-0.12620966136455536,
-0.006953817792236805,
-0.04445187374949455,
-0.13877084851264954,
-0.006491991225630045,
-0.04791347682476044,
-0.15081816911697388,
-0.0057747503742575645,
-0.05111181363463402,
-0.16245798766613007,
-0.004867491777986288,
-0.054257530719041824,
-0.1738300770521164,
0.1657339185476303,
0.15363934636116028,
0.14477591216564178,
0.13839827477931976,
0.14092908799648285,
0.15468865633010864,
0.16648422181606293,
0.17608821392059326,
0.1841760128736496,
0.19062727689743042,
-0.00996700394898653,
0.0009040668956004083,
0.004995268769562244,
-0.018695320934057236,
0.0023894852492958307,
0.009505861438810825,
-0.025692706927657127,
0.0043935589492321014,
0.013725746423006058,
-0.031206561252474785,
0.006276523228734732,
0.017453059554100037,
-0.03552345186471939,
0.00730851711705327,
0.0201703030616045,
-0.03902909904718399,
0.0068913171999156475,
0.021356917917728424,
-0.04216034710407257,
0.005601761396974325,
0.021485209465026855,
-0.04517875239253044,
0.0038381200283765793,
0.020964166149497032,
-0.04812570661306381,
0.0018662408692762256,
0.020047230646014214,
-0.05107533559203148,
-0.00014347363321576267,
0.01891058310866356
],
[
0.04161107912659645,
0.04643801972270012,
0.07714500278234482,
0.06882365792989731,
0.07853177934885025,
0.13730594515800476,
0.08874603360891342,
0.10269544273614883,
0.18733122944831848,
0.10394992679357529,
0.12144353240728378,
0.228963240981102,
0.11596192419528961,
0.1365172266960144,
0.26162227988243103,
0.1259639710187912,
0.1488255262374878,
0.2899230718612671,
0.13448232412338257,
0.1590842306613922,
0.3123351037502289,
0.141754150390625,
0.16746656596660614,
0.3306305706501007,
0.1480536013841629,
0.17442390322685242,
0.34733083844184875,
0.1536930501461029,
0.18031899631023407,
0.36258259415626526,
0.36356091499328613,
0.3559049963951111,
0.34951725602149963,
0.3456125855445862,
0.3479859530925751,
0.35668134689331055,
0.36377906799316406,
0.3706970512866974,
0.3976169526576996,
0.39772698283195496,
0.03057853877544403,
0.02315731719136238,
0.020660309121012688,
0.054019346833229065,
0.039159927517175674,
0.03595462813973427,
0.07279643416404724,
0.051145341247320175,
0.04803183302283287,
0.08770721405744553,
0.060230545699596405,
0.05767446011304855,
0.0995459109544754,
0.06725169718265533,
0.06545353680849075,
0.10892871767282486,
0.07302306592464447,
0.07213838398456573,
0.116375632584095,
0.0778125748038292,
0.07771806418895721,
0.12312348932027817,
0.0816049873828888,
0.08206423372030258,
0.1288398653268814,
0.08456701040267944,
0.08530736714601517,
0.13414840400218964,
0.08684109151363373,
0.0876062661409378
]
],
[
[
0.0,
0.0,
0.0,
0.06579020619392395,
0.0,
0.0,
-0.0417020283639431,
0.05600078031420708,
0.8763857483863831,
0.0,
-0.0006691364105790854,
0.0005162839079275727,
-0.0025432889815419912
],
[
0.0,
0.0,
0.0,
0.3762088716030121,
0.0,
0.0,
0.15823891758918762,
0.2252153754234314,
0.31409522891044617,
0.0,
0.023507647216320038,
0.036004047840833664,
0.05768127366900444
]
],
[
[
-0.15657226741313934,
0.00228637782856822,
-0.0009536752477288246,
-0.00012742729450110346,
0.0,
0.0014414743054658175,
-0.0015724773984402418,
-0.0011747290845960379
],
[
0.9879051446914673,
0.09651217609643936,
0.08441831171512604,
0.06647706776857376,
0.0,
0.0495850145816803,
0.06368337571620941,
0.06135875731706619
]
],
[
[
0.17389154434204102,
0.005625918973237276,
-0.1695142686367035,
0.0031083673238754272,
0.005127986893057823,
0.012693661265075207,
-0.4065398871898651
],
[
0.2601781189441681,
0.13021306693553925,
0.4979441463947296,
0.022246459499001503,
0.06382154673337936,
0.08343781530857086,
0.913625180721283
]
],
[
[
0.02290557324886322,
-0.00010951685544569045,
-0.011411379091441631,
-0.0015635089948773384,
0.04783362150192261,
-0.0063293022103607655,
0.0013472747523337603,
0.001141763525083661
],
[
0.09001470357179642,
0.00812098290771246,
0.033615339547395706,
0.013250669464468956,
0.21339112520217896,
0.01224832609295845,
0.019686469808220863,
0.00791964028030634
]
]
],
"action_token_size": 64,
"arch": "STTransformerDecoder",
"attn_drop": 0.1,
"attn_dropout": 0.1,
"buffer_size": 64,
"d_action": 28,
"d_actions": [
2,
4,
100,
8,
14,
35,
70,
6,
16,
120,
18,
80,
8,
5,
7,
8,
40,
49,
120,
7,
7,
2,
7,
35,
8,
350,
13,
40,
21,
8
],
"d_model": 256,
"dataloader_apply_corruption": false,
"dataloader_apply_mask": true,
"dataloader_mask_ratio_min": 0.1,
"diffloss_d": 4,
"diffloss_w": 1024,
"diffusion_batch_mul": 1,
"dim": 512,
"drop_action_ratio": 0.0,
"factored_vocab_size": 512,
"grad_checkpointing": false,
"image_vocab_size": null,
"init_actions": true,
"jointly_predict_actions": false,
"jointly_predict_states": true,
"label_drop_prob": 0.5,
"mask_ratio_min": 0.7,
"maskgit_steps": 16,
"max_corrupt_rate": 0.2,
"mlp_bias": false,
"mlp_drop": 0.05,
"mlp_ratio": 4.0,
"non_mlm_ratio": 0.2,
"num_factored_vocabs": 2,
"num_heads": 8,
"num_layers": 32,
"num_prompt_frames": 4,
"num_sampling_steps": "100",
"patch_size": 2,
"predict_unmask": false,
"proj_bias": true,
"proj_dropout": 0.1,
"qk_norm": false,
"qkv_bias": true,
"random_dummy_action": true,
"shared_action_mlps": true,
"use_actions": true,
"use_mup": false,
"vae_embed_dim": 4,
"vae_stride": 1
}