genima_act.yaml

# @package _global_

method:
  _target_: method.genima_act.GenimaACT
  device: 'cpu'
  is_rl: False
  lr: 5.0e-05
  lr_backbone: 1.0e-05
  weight_decay: 0.0001
  num_train_steps: 200000
  adaptive_lr: false
  actor_grad_clip: null
  actor_model:
    _target_: method.genima_act.GenimaMVTransformer
    _partial_: true
    input_shape: ???
    hidden_dim: 256
    enc_layers: 4
    dec_layers: 6
    dim_feedforward: 2048
    dropout: 0.1
    nheads: 8
    num_queries: ${action_sequence}
    pre_norm: false
    state_dim: 8
    action_dim: 8
    use_lang_cond: True
    data_augmentation: true
  encoder_model:
    _target_: robobase.method.act.ImageEncoderACT
    _partial_: true
    input_shape: ???
    hidden_dim: 256
    position_embedding: "sine"
    lr_backbone: ${method.lr_backbone}
    masks: False
    backbone: "resnet18"
    dilation: False
    use_lang_cond: true