Hugging Face's logo

mgovind7
/
UniLACT

robot manipulation
multi-modal perception
vision-language-action
Model card Files
xet
 Community
1
UniLACT
File size: 2,670 Bytes
e792dae
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
_target_: unilarn.src.models.unilarn.UniLARN
codebook_dim: 32
commit_loss_w: 1.0
recon_loss_w: 1.0
recon_depth_loss_w: 1.0
perceptual_loss_w: 1.0
image_encoder:
  _target_: transformers.ViTMAEModel.from_pretrained
  pretrained_model_name_or_path: facebook/vit-mae-large
m_former:
  _target_: unilarn.src.models.m_former.MFormer
  add_pooling_layer: false
  config:
    _target_: transformers.ViTConfig
    query_num: 8
    input_hidden_size: 1024
    num_patches: 197
    attention_probs_dropout_prob: 0.0
    hidden_act: gelu
    hidden_dropout_prob: 0.0
    hidden_size: 768
    initializer_range: 0.02
    intermediate_size: 3072
    layer_norm_eps: 1.0e-12
    model_type: vit
    num_attention_heads: 12
    num_hidden_layers: 4
    qkv_bias: true
m_former_depth:
  _target_: unilarn.src.models.m_former.MFormer
  add_pooling_layer: false
  config:
    _target_: transformers.ViTConfig
    query_num: 8
    input_hidden_size: 1024
    num_patches: 197
    attention_probs_dropout_prob: 0.0
    hidden_act: gelu
    hidden_dropout_prob: 0.0
    hidden_size: 768
    initializer_range: 0.02
    intermediate_size: 3072
    layer_norm_eps: 1.0e-12
    model_type: vit
    num_attention_heads: 12
    num_hidden_layers: 4
    qkv_bias: true
vector_quantizer:
  _target_: unilarn.src.models.vector_quantizer.VectorQuantizer2
  n_e: 128
  e_dim: 32
  beta: 0.25
  remap: null
  sane_index_shape: true
  legacy: false
vector_quantizer_uni:
  _target_: unilarn.src.models.vector_quantizer.VectorQuantizer2
  n_e: 128
  e_dim: 32
  beta: 0.25
  remap: null
  sane_index_shape: true
  legacy: false
decoder:
  _target_: unilarn.src.models.latent_action_decoder.LatentActionDecoder
  config:
    _target_: transformers.ViTConfig
    query_num: 8
    attention_probs_dropout_prob: 0.0
    hidden_act: gelu
    hidden_dropout_prob: 0.0
    hidden_size: 768
    image_size: 224
    initializer_range: 0.02
    intermediate_size: 3072
    layer_norm_eps: 1.0e-12
    model_type: vit
    num_attention_heads: 12
    num_channels: 3
    num_hidden_layers: 12
    patch_size: 16
    qkv_bias: true
    encoder_stride: 16
    num_patches: 196
depth_decoder:
  _target_: unilarn.src.models.latent_action_decoder.LatentActionDecoder
  config:
    _target_: transformers.ViTConfig
    query_num: 8
    attention_probs_dropout_prob: 0.0
    hidden_act: gelu
    hidden_dropout_prob: 0.0
    hidden_size: 768
    image_size: 224
    initializer_range: 0.02
    intermediate_size: 3072
    layer_norm_eps: 1.0e-12
    model_type: vit
    num_attention_heads: 12
    num_channels: 3
    num_hidden_layers: 12
    patch_size: 16
    qkv_bias: true
    encoder_stride: 16
    num_patches: 196