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so100_rewact_sam3

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so100_rewact_sam3
File size: 2,074 Bytes 
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{
    "type": "rewact",
    "n_obs_steps": 1,
    "normalization_mapping": {
        "VISUAL": "MEAN_STD",
        "STATE": "MEAN_STD",
        "ACTION": "MEAN_STD"
    },
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                6
            ]
        },
        "observation.images.top": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        },
        "observation.images.wrist": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                6
            ]
        }
    },
    "device": null,
    "use_amp": false,
    "push_to_hub": true,
    "repo_id": "pravsels/so100_rewact_sam3",
    "private": null,
    "tags": null,
    "license": null,
    "chunk_size": 100,
    "n_action_steps": 100,
    "vision_backbone": "sam3_vit_l",
    "pretrained_backbone_weights": "./sam3.pt",
    "replace_final_stride_with_dilation": false,
    "pre_norm": false,
    "dim_model": 512,
    "n_heads": 8,
    "dim_feedforward": 3200,
    "feedforward_activation": "relu",
    "n_encoder_layers": 4,
    "n_decoder_layers": 1,
    "use_vae": true,
    "latent_dim": 32,
    "n_vae_encoder_layers": 4,
    "temporal_ensemble_coeff": null,
    "dropout": 0.1,
    "kl_weight": 10.0,
    "optimizer_lr": 5e-06,
    "optimizer_weight_decay": 0.0001,
    "optimizer_lr_backbone": 5e-06,
    "use_reward_head": true,
    "reward_loss_weight": 2.0,
    "vision_encoder_type": "sam3",
    "freeze_vision_encoder": true,
    "dinov3": null,
    "vjepa2": null,
    "sam3": {
        "variant": "vit_l",
        "weights": "./sam3.pt",
        "fpn_level": 2,
        "pos_embed_type": "act_sinusoidal",
        "patch_merge_stages": 2,
        "use_patch_merge": false,
        "input_resolution": 1008,
        "compile_backbone": false
    }
}