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aravindhs-NV
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gr00t-libero-20k-bs640

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LeRobot
Safetensors
gr00t_n1d6
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gr00t-libero-20k-bs640
File size: 3,574 Bytes
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{
    "type": "gr00t_n1d6",
    "n_obs_steps": 1,
    "input_features": {
        "observation.images.image": {
            "type": "VISUAL",
            "shape": [
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            ]
        },
        "observation.images.image2": {
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            ]
        },
        "observation.state": {
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        }
    },
    "output_features": {
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        }
    },
    "device": "cuda",
    "use_amp": false,
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    "repo_id": "aravindhs-NV/gr00t-libero-20k-bs640",
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    "tags": null,
    "license": null,
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    "chunk_size": 40,
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        "ACTION": "MEAN_STD"
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    ],
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    "shortest_image_edge": 256,
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        "num_layers": 32,
        "num_attention_heads": 32,
        "attention_head_dim": 48,
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    "num_inference_timesteps": 4,
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    "optimizer_lr": 0.0001,
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    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 1e-05,
    "warmup_ratio": 0.05,
    "use_bf16": true,
    "video_backend": "decord",
    "balance_dataset_weights": true,
    "balance_trajectory_weights": true,
    "dataset_paths": null,
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}