| { |
| "architectures": [ |
| "ActionCodec" |
| ], |
| "auto_map": { |
| "AutoConfig": "configuration_actioncodec.ActionCodecConfig", |
| "AutoModel": "modeling_actioncodec.ActionCodec" |
| }, |
| "decoder_add_causal_mask": false, |
| "decoder_add_self_attn": false, |
| "decoder_cls_size": 1, |
| "decoder_dim": 384, |
| "decoder_n_heads": 6, |
| "decoder_n_layers": 12, |
| "decoder_pos_encoding_type": "fourier", |
| "dtype": "float32", |
| "embodiment_config": { |
| "a_franka_libero_20hz": { |
| "action_dim": 7, |
| "description": "20Hz 7-dim action for 1s. Delta eef position (xyz), orientation (rpy), and gripper position (1 open/0 close).", |
| "duration": 0, |
| "freq": 20 |
| }, |
| "b_widowx_bridge_5hz": { |
| "action_dim": 7, |
| "description": "5Hz 7-dim action for 1s. Delta eef position (xyz), orientation (rpy), and gripper position (1 open/0 close).", |
| "duration": 2, |
| "freq": 5 |
| }, |
| "c_franka_droid_15hz": { |
| "action_dim": 7, |
| "description": "15Hz 7-dim action for 1s. Delta eef position (xyz), orientation (rpy), and gripper position (1 open/0 close).", |
| "duration": 0, |
| "freq": 15 |
| } |
| }, |
| "encoder_add_causal_mask": false, |
| "encoder_add_self_attn": false, |
| "encoder_dim": 384, |
| "encoder_n_heads": 6, |
| "encoder_n_layers": 12, |
| "encoder_pos_encoding_type": "fourier", |
| "model_type": "action_codec", |
| "n_quantizers": 3, |
| "n_tokens": 48, |
| "transformers_version": "4.57.3", |
| "vq_codebook_size": 2048, |
| "vq_commitment_weight": 0.25, |
| "vq_decay": 0.99, |
| "vq_kmeans_init": true, |
| "vq_quantizer_dropout": 0.25, |
| "vq_threshold_ema_dead_code": 2, |
| "vq_type": "rvq", |
| "z_dim": 512 |
| } |
|
|
