Logic
31 lines
1.2 KiB
YAML
31 lines
1.2 KiB
YAML
# Transformer-based Diffusion Policy Head
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_target_: roboimi.vla.models.heads.transformer1d.Transformer1D
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_partial_: true
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# ====================
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# Transformer 架构配置
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# ====================
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n_layer: 4 # Transformer层数（保持当前小模型配置）
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n_head: 4 # 注意力头数
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n_emb: 128 # 嵌入维度
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p_drop_emb: 0.05 # Embedding dropout
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p_drop_attn: 0.05 # Attention dropout
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# ====================
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# 条件配置
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# ====================
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causal_attn: false # 对齐 external TransformerForDiffusion 的 full-attention / nocausal 变体
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time_as_cond: true # 与 external 实现一致：时间步作为条件 token
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obs_as_cond: true # API 对齐；实际是否启用由 cond_dim > 0 决定
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n_cond_layers: 1 # 条件编码器层数（保留当前配置）
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# ====================
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# 注意事项
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# ====================
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# 以下参数将在agent配置中通过interpolation提供：
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# - input_dim: ${agent.action_dim}
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# - output_dim: ${agent.action_dim}
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# - horizon: ${agent.pred_horizon}
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# - n_obs_steps: ${agent.obs_horizon}
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# - cond_dim: 通过agent中的global_cond_dim计算
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