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MotionforgeGroup/DiffusionPolicy-FC-80000-3views

sourceHugging Faceupdated 1mo agoView on Hugging Face
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train_config.json199 linesDownload Raw Back to root
1{2    "dataset": {3        "repo_id": "local/factory_conveyor_level2_seeded",4        "root": "/projects/haitian003ssd/Dataset/factory_conveyor_level2_seeded",5        "episodes": null,6        "image_transforms": {7            "enable": true,8            "max_num_transforms": 1,9            "random_order": false,10            "tfs": {11                "resize": {12                    "weight": 1.0,13                    "type": "Resize",14                    "kwargs": {15                        "size": [16                            240,17                            32018                        ],19                        "antialias": true20                    }21                }22            }23        },24        "revision": null,25        "use_imagenet_stats": true,26        "video_backend": "pyav",27        "return_uint8": false,28        "depth_output_unit": "mm",29        "streaming": false,30        "eval_split": 0.031    },32    "env": null,33    "policy": {34        "type": 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"shape": [72                    1073                ]74            }75        },76        "device": "cuda",77        "use_amp": false,78        "use_peft": false,79        "push_to_hub": false,80        "repo_id": null,81        "private": null,82        "tags": null,83        "license": null,84        "pretrained_path": null,85        "pretrained_revision": null,86        "horizon": 64,87        "n_action_steps": 32,88        "normalization_mapping": {89            "VISUAL": "MEAN_STD",90            "STATE": "MIN_MAX",91            "ACTION": "MIN_MAX"92        },93        "drop_n_last_frames": 7,94        "vision_backbone": "resnet18",95        "resize_shape": null,96        "crop_ratio": 1.0,97        "crop_shape": null,98        "crop_is_random": true,99        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",100        "use_group_norm": false,101        "spatial_softmax_num_keypoints": 32,102        "use_separate_rgb_encoder_per_camera": true,103        "down_dims": 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"output_dir": "/projects/haitian003ssd/ICRA2027-baseline/DP/train_outputs/diffusion_factory_conveyor_level2_seeded_124012",136    "job_name": "diffusion_factory_conveyor_level2_seeded",137    "resume": false,138    "seed": 1000,139    "cudnn_deterministic": false,140    "num_workers": 4,141    "batch_size": 32,142    "prefetch_factor": 4,143    "persistent_workers": true,144    "steps": 80000,145    "env_eval_freq": 0,146    "log_freq": 50,147    "eval_steps": 0,148    "max_eval_samples": 0,149    "tolerance_s": 0.0001,150    "save_checkpoint": true,151    "save_freq": 40000,152    "use_policy_training_preset": true,153    "optimizer": {154        "type": "adam",155        "lr": 0.0001,156        "weight_decay": 1e-06,157        "grad_clip_norm": 10.0,158        "betas": [159            0.95,160            0.999161        ],162        "eps": 1e-08163    },164    "scheduler": {165        "type": "diffuser",166        "num_warmup_steps": 500,167        "name": "cosine"168    },169    "eval": {170        "n_episodes": 50,171        "batch_size": 11,172        "use_async_envs": true,173        "recording": false,174        "recording_repo_id": null,175        "recording_private": false176    },177    "wandb": {178        "enable": true,179        "disable_artifact": false,180        "project": "diffusion-policy",181        "entity": null,182        "notes": null,183        "run_id": "93m7wwef",184        "mode": null,185        "add_tags": true186    },187    "peft": null,188    "job": {189        "target": null,190        "image": "huggingface/lerobot-gpu:latest",191        "timeout": "2d",192        "detach": false,193        "tags": []194    },195    "save_checkpoint_to_hub": false,196    "sample_weighting": null,197    "rename_map": {},198    "checkpoint_path": null199}