CoolFace
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NeilKim/diffusion-so100-policy-2

sourceHugging Faceapache-2.0updated 1y agoView on Hugging Face
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config.json89 linesDownload Raw Back to root
1{2    "type": "diffusion",3    "n_obs_steps": 2,4    "normalization_mapping": {5        "VISUAL": "MEAN_STD",6        "STATE": "MIN_MAX",7        "ACTION": "MIN_MAX"8    },9    "input_features": {10        "observation.state": {11            "type": "STATE",12            "shape": [13                614            ]15        },16        "observation.images.hand": {17            "type": "VISUAL",18            "shape": [19                3,20                480,21                64022            ]23        },24        "observation.images.top": {25            "type": "VISUAL",26            "shape": [27                3,28                480,29                64030            ]31        }32    },33    "output_features": {34        "action": {35            "type": "ACTION",36            "shape": [37                638            ]39        }40    },41    "device": "cuda",42    "use_amp": false,43    "push_to_hub": true,44    "repo_id": "NeilKim/diffusion-so100-policy-2",45    "private": null,46    "tags": null,47    "license": null,48    "horizon": 16,49    "n_action_steps": 8,50    "drop_n_last_frames": 7,51    "vision_backbone": "resnet18",52    "crop_shape": [53        84,54        8455    ],56    "crop_is_random": true,57    "pretrained_backbone_weights": null,58    "use_group_norm": true,59    "spatial_softmax_num_keypoints": 32,60    "use_separate_rgb_encoder_per_camera": false,61    "down_dims": [62        512,63        1024,64        204865    ],66    "kernel_size": 5,67    "n_groups": 8,68    "diffusion_step_embed_dim": 128,69    "use_film_scale_modulation": true,70    "noise_scheduler_type": "DDPM",71    "num_train_timesteps": 100,72    "beta_schedule": "squaredcos_cap_v2",73    "beta_start": 0.0001,74    "beta_end": 0.02,75    "prediction_type": "epsilon",76    "clip_sample": true,77    "clip_sample_range": 1.0,78    "num_inference_steps": null,79    "do_mask_loss_for_padding": false,80    "optimizer_lr": 0.0001,81    "optimizer_betas": [82        0.95,83        0.99984    ],85    "optimizer_eps": 1e-08,86    "optimizer_weight_decay": 1e-06,87    "scheduler_name": "cosine",88    "scheduler_warmup_steps": 50089}