CoolFace
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MotionforgeGroup/DiffusionPolicy-FC-80000-3views

sourceHugging Faceupdated 1mo agoView on Hugging Face
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config.json101 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                109            ]10        },11        "observation.images.overview": {12            "type": "VISUAL",13            "shape": [14                3,15                240,16                32017            ]18        },19        "observation.images.front": {20            "type": "VISUAL",21            "shape": [22                3,23                240,24                32025            ]26        },27        "observation.images.wrist": {28            "type": "VISUAL",29            "shape": [30                3,31                240,32                32033            ]34        }35    },36    "output_features": {37        "action": {38            "type": "ACTION",39            "shape": [40                1041            ]42        }43    },44    "device": "cuda",45    "use_amp": false,46    "use_peft": false,47    "push_to_hub": false,48    "repo_id": null,49    "private": null,50    "tags": null,51    "license": null,52    "pretrained_path": null,53    "pretrained_revision": null,54    "horizon": 64,55    "n_action_steps": 32,56    "normalization_mapping": {57        "VISUAL": "MEAN_STD",58        "STATE": "MIN_MAX",59        "ACTION": "MIN_MAX"60    },61    "drop_n_last_frames": 7,62    "vision_backbone": "resnet18",63    "resize_shape": null,64    "crop_ratio": 1.0,65    "crop_shape": null,66    "crop_is_random": true,67    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",68    "use_group_norm": false,69    "spatial_softmax_num_keypoints": 32,70    "use_separate_rgb_encoder_per_camera": true,71    "down_dims": [72        512,73        1024,74        204875    ],76    "kernel_size": 5,77    "n_groups": 8,78    "diffusion_step_embed_dim": 128,79    "use_film_scale_modulation": true,80    "noise_scheduler_type": "DDPM",81    "num_train_timesteps": 100,82    "beta_schedule": "squaredcos_cap_v2",83    "beta_start": 0.0001,84    "beta_end": 0.02,85    "prediction_type": "epsilon",86    "clip_sample": true,87    "clip_sample_range": 1.0,88    "num_inference_steps": null,89    "compile_model": false,90    "compile_mode": "reduce-overhead",91    "do_mask_loss_for_padding": false,92    "optimizer_lr": 0.0001,93    "optimizer_betas": [94        0.95,95        0.99996    ],97    "optimizer_eps": 1e-08,98    "optimizer_weight_decay": 1e-06,99    "scheduler_name": "cosine",100    "scheduler_warmup_steps": 500101}