CoolFace
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MSGIEUN/my_policy_diffusion2

sourceHugging Faceapache-2.0updated 6mo agoView on Hugging Face
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config.json91 linesDownload Raw Back to root
1{2    "type": "diffusion",3    "n_obs_steps": 2,4    "input_features": {5        "observation.state": {6            "type": "STATE",7            "shape": [8                69            ]10        },11        "observation.images.front": {12            "type": "VISUAL",13            "shape": [14                3,15                480,16                64017            ]18        },19        "observation.images.realsense": {20            "type": "VISUAL",21            "shape": [22                3,23                480,24                64025            ]26        }27    },28    "output_features": {29        "action": {30            "type": "ACTION",31            "shape": [32                633            ]34        }35    },36    "device": "cuda",37    "use_amp": false,38    "use_peft": false,39    "push_to_hub": true,40    "repo_id": "MSGIEUN/my_policy_diffusion2",41    "private": null,42    "tags": null,43    "license": null,44    "pretrained_path": null,45    "horizon": 16,46    "n_action_steps": 8,47    "normalization_mapping": {48        "VISUAL": "MEAN_STD",49        "STATE": "MIN_MAX",50        "ACTION": "MIN_MAX"51    },52    "drop_n_last_frames": 7,53    "vision_backbone": "resnet18",54    "crop_shape": [55        84,56        8457    ],58    "crop_is_random": true,59    "pretrained_backbone_weights": null,60    "use_group_norm": true,61    "spatial_softmax_num_keypoints": 32,62    "use_separate_rgb_encoder_per_camera": false,63    "down_dims": [64        512,65        1024,66        204867    ],68    "kernel_size": 5,69    "n_groups": 8,70    "diffusion_step_embed_dim": 128,71    "use_film_scale_modulation": true,72    "noise_scheduler_type": "DDPM",73    "num_train_timesteps": 100,74    "beta_schedule": "squaredcos_cap_v2",75    "beta_start": 0.0001,76    "beta_end": 0.02,77    "prediction_type": "epsilon",78    "clip_sample": true,79    "clip_sample_range": 1.0,80    "num_inference_steps": null,81    "do_mask_loss_for_padding": false,82    "optimizer_lr": 0.0001,83    "optimizer_betas": [84        0.95,85        0.99986    ],87    "optimizer_eps": 1e-08,88    "optimizer_weight_decay": 1e-06,89    "scheduler_name": "cosine",90    "scheduler_warmup_steps": 50091}