CoolFace
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stevex0/alohaDP_transferCube_ACTION-minmax-norm_scripted

sourceHugging Faceapache-2.0updated 11mo agoView on Hugging Face
0likes7downloads
config.json82 linesDownload Raw Back to root
1{2    "type": "diffusion",3    "n_obs_steps": 2,4    "input_features": {5        "observation.images.top": {6            "type": "VISUAL",7            "shape": [8                3,9                480,10                64011            ]12        },13        "observation.state": {14            "type": "STATE",15            "shape": [16                1417            ]18        }19    },20    "output_features": {21        "action": {22            "type": "ACTION",23            "shape": [24                1425            ]26        }27    },28    "device": "cuda",29    "use_amp": false,30    "push_to_hub": true,31    "repo_id": "alohaDP_transferCube_ACTION-minmax-norm_scripted_trainConfig.json",32    "private": null,33    "tags": null,34    "license": null,35    "pretrained_path": null,36    "horizon": 16,37    "n_action_steps": 8,38    "normalization_mapping": {39        "VISUAL": "MEAN_STD",40        "STATE": "MEAN_STD",41        "ACTION": "MIN_MAX"42    },43    "drop_n_last_frames": 7,44    "vision_backbone": "resnet18",45    "crop_shape": [46        84,47        8448    ],49    "crop_is_random": true,50    "pretrained_backbone_weights": null,51    "use_group_norm": true,52    "spatial_softmax_num_keypoints": 32,53    "use_separate_rgb_encoder_per_camera": false,54    "down_dims": [55        512,56        1024,57        204858    ],59    "kernel_size": 5,60    "n_groups": 8,61    "diffusion_step_embed_dim": 128,62    "use_film_scale_modulation": true,63    "noise_scheduler_type": "DDPM",64    "num_train_timesteps": 100,65    "beta_schedule": "squaredcos_cap_v2",66    "beta_start": 0.0001,67    "beta_end": 0.02,68    "prediction_type": "epsilon",69    "clip_sample": true,70    "clip_sample_range": 1.0,71    "num_inference_steps": null,72    "do_mask_loss_for_padding": false,73    "optimizer_lr": 0.0001,74    "optimizer_betas": [75        0.95,76        0.99977    ],78    "optimizer_eps": 1e-08,79    "optimizer_weight_decay": 1e-06,80    "scheduler_name": "cosine",81    "scheduler_warmup_steps": 50082}