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fracapuano/robot_learning_tutorial_diffusion_example_model

sourceHugging Faceupdated 1y agoView on Hugging Face
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config.json90 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.up": {12            "type": "VISUAL",13            "shape": [14                3,15                480,16                64017            ]18        },19        "observation.images.side": {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": "mps",37    "use_amp": false,38    "push_to_hub": true,39    "repo_id": null,40    "private": null,41    "tags": null,42    "license": null,43    "pretrained_path": null,44    "horizon": 16,45    "n_action_steps": 8,46    "normalization_mapping": {47        "VISUAL": "MEAN_STD",48        "STATE": "MIN_MAX",49        "ACTION": "MIN_MAX"50    },51    "drop_n_last_frames": 7,52    "vision_backbone": "resnet18",53    "crop_shape": [54        84,55        8456    ],57    "crop_is_random": true,58    "pretrained_backbone_weights": null,59    "use_group_norm": true,60    "spatial_softmax_num_keypoints": 32,61    "use_separate_rgb_encoder_per_camera": false,62    "down_dims": [63        512,64        1024,65        204866    ],67    "kernel_size": 5,68    "n_groups": 8,69    "diffusion_step_embed_dim": 128,70    "use_film_scale_modulation": true,71    "noise_scheduler_type": "DDPM",72    "num_train_timesteps": 100,73    "beta_schedule": "squaredcos_cap_v2",74    "beta_start": 0.0001,75    "beta_end": 0.02,76    "prediction_type": "epsilon",77    "clip_sample": true,78    "clip_sample_range": 1.0,79    "num_inference_steps": null,80    "do_mask_loss_for_padding": false,81    "optimizer_lr": 0.0001,82    "optimizer_betas": [83        0.95,84        0.99985    ],86    "optimizer_eps": 1e-08,87    "optimizer_weight_decay": 1e-06,88    "scheduler_name": "cosine",89    "scheduler_warmup_steps": 50090}