first commit

.gitignore

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+eval

README.md

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 ---
 license: mit
 ---
+
+Model chekckpoint for RACER trained with rich instructions.

exp_cfg.yaml

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+agent: our
+bs: 12
+epochs: 18
+exp_id: racer
+finetuning: true
+image_size: 256
+num_workers: 6
+peract:
+  add_rgc_loss: true
+  lambda_weight_l2: 1.0e-06
+  lr: 0.0005
+  lr_cos_dec: true
+  num_rotation_classes: 72
+  optimizer_type: lamb
+  transform_augmentation: true
+  transform_augmentation_rpy:
+  - 0.0
+  - 0.0
+  - 45.0
+  transform_augmentation_xyz:
+  - 0.125
+  - 0.125
+  - 0.125
+  warmup_proportion: 0.08
+  warmup_steps: 3761
+peract_official:
+  cfg_path: configs/peract_official_config.yaml
+rvt:
+  gt_hm_sigma: 1.5
+  img_aug: 0.1
+  move_pc_in_bound: true
+  place_with_mean: false
+
+lang_model_name: t5-11b
+lang_level: rich
+image_size: 256
+sample_distribution_mode: task_uniform
+tasks: all
+

model_17.pth

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+version https://git-lfs.github.com/spec/v1
+oid sha256:73687bb41342b724d6fff8bb8776a0419155aaa6113e455907786e50c69b33f2
+size 147540672

mvt_cfg.yaml

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+activation: lrelu
+add_corr: true
+add_depth: true
+add_lang: true
+add_pixel_loc: true
+add_proprio: true
+attn_dim: 512
+attn_dim_head: 64
+attn_dropout: 0.1
+attn_heads: 8
+decoder_dropout: 0.0
+depth: 8
+feat_dim: 220
+final_dim: 64
+im_channels: 64
+img_feat_dim: 3
+img_patch_size: 11
+img_size: 220
+lang_dim: 512
+lang_len: 77
+pe_fix: true
+proprio_dim: 3
+self_cross_ver: 1
+use_dropout: true
+weight_tie_layers: false
+