41 lines
873 B
YAML
41 lines
873 B
YAML
# @package agent
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defaults:
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- /backbone@vision_backbone: resnet_diffusion
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- /modules@state_encoder: identity_state_encoder
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- /modules@action_encoder: identity_action_encoder
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- /head: imf_transformer1d
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- _self_
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_target_: roboimi.vla.agent_imf.IMFVLAAgent
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action_dim: 16
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obs_dim: 16
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normalization_type: "min_max"
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pred_horizon: 16
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obs_horizon: 2
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num_action_steps: 8
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camera_names: ${data.camera_names}
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num_cams: 3
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vision_backbone:
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num_cameras: ${agent.num_cams}
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camera_names: ${agent.camera_names}
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diffusion_steps: 100
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inference_steps: 1
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head_type: "transformer"
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head:
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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: 208
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causal_attn: false
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time_as_cond: true
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obs_as_cond: true
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n_cond_layers: 0
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backbone_type: attnres_full
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n_head: 1
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n_kv_head: 1
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