jedai2003/diffusion_policy

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"use_separate_rgb_encoder_per_camera": false,136        "down_dims": [137            512,138            1024,139            2048140        ],141        "kernel_size": 5,142        "n_groups": 8,143        "diffusion_step_embed_dim": 128,144        "use_film_scale_modulation": true,145        "noise_scheduler_type": "DDPM",146        "num_train_timesteps": 100,147        "beta_schedule": "squaredcos_cap_v2",148        "beta_start": 0.0001,149        "beta_end": 0.02,150        "prediction_type": "epsilon",151        "clip_sample": true,152        "clip_sample_range": 1.0,153        "num_inference_steps": null,154        "do_mask_loss_for_padding": false,155        "optimizer_lr": 0.0001,156        "optimizer_betas": [157            0.95,158            0.999159        ],160        "optimizer_eps": 1e-08,161        "optimizer_weight_decay": 1e-06,162        "scheduler_name": "cosine",163        "scheduler_warmup_steps": 500164    },165    "output_dir": "outputs/train/diffusion",166    "job_name": "diffusion",167    "resume": false,168    "seed": 1000,169    "num_workers": 4,170    "batch_size": 8,171    "steps": 20000,172    "eval_freq": 20000,173    "log_freq": 200,174    "save_checkpoint": true,175    "save_freq": 20000,176    "use_policy_training_preset": true,177    "optimizer": {178        "type": "adam",179        "lr": 0.0001,180        "weight_decay": 1e-06,181        "grad_clip_norm": 10.0,182        "betas": [183            0.95,184            0.999185        ],186        "eps": 1e-08187    },188    "scheduler": {189        "type": "diffuser",190        "num_warmup_steps": 500,191        "name": "cosine"192    },193    "eval": {194        "n_episodes": 50,195        "batch_size": 50,196        "use_async_envs": false197    },198    "wandb": {199        "enable": false,200        "disable_artifact": false,201        "project": "lerobot",202        "entity": null,203        "notes": null,204        "run_id": null,205        "mode": null206    },207    "checkpoint_path": null,208    "rename_map": {}209}