CoolFace
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arclabmit/xarm7_diffusion_beavrsim_shellgame_model

sourceHugging Faceapache-2.0updated 8mo agoView on Hugging Face
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config.json83 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                89            ]10        },11        "observation.images.overhead": {12            "type": "VISUAL",13            "shape": [14                3,15                480,16                64017            ]18        }19    },20    "output_features": {21        "action": {22            "type": "ACTION",23            "shape": [24                825            ]26        }27    },28    "device": "cuda",29    "use_amp": false,30    "use_peft": false,31    "push_to_hub": true,32    "repo_id": "arclabmit/xarm7_diffusion_beavrsim_shellgame_model",33    "private": null,34    "tags": null,35    "license": null,36    "pretrained_path": null,37    "horizon": 16,38    "n_action_steps": 8,39    "normalization_mapping": {40        "VISUAL": "MEAN_STD",41        "STATE": "MIN_MAX",42        "ACTION": "MIN_MAX"43    },44    "drop_n_last_frames": 7,45    "vision_backbone": "resnet18",46    "crop_shape": [47        84,48        8449    ],50    "crop_is_random": true,51    "pretrained_backbone_weights": null,52    "use_group_norm": true,53    "spatial_softmax_num_keypoints": 32,54    "use_separate_rgb_encoder_per_camera": false,55    "down_dims": [56        512,57        1024,58        204859    ],60    "kernel_size": 5,61    "n_groups": 8,62    "diffusion_step_embed_dim": 128,63    "use_film_scale_modulation": true,64    "noise_scheduler_type": "DDPM",65    "num_train_timesteps": 100,66    "beta_schedule": "squaredcos_cap_v2",67    "beta_start": 0.0001,68    "beta_end": 0.02,69    "prediction_type": "epsilon",70    "clip_sample": true,71    "clip_sample_range": 1.0,72    "num_inference_steps": null,73    "do_mask_loss_for_padding": false,74    "optimizer_lr": 0.0001,75    "optimizer_betas": [76        0.95,77        0.99978    ],79    "optimizer_eps": 1e-08,80    "optimizer_weight_decay": 1e-06,81    "scheduler_name": "cosine",82    "scheduler_warmup_steps": 50083}