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config.json

@@ -1,5 +1,5 @@
 {
-    "type": "diffusion",
+    "type": "transformer_diffusion",
     "n_obs_steps": 2,
     "input_features": {
         "observation.state": {
@@ -35,30 +35,42 @@
     },
     "device": "cuda",
     "use_amp": false,
+    "use_peft": false,
     "push_to_hub": true,
-    "repo_id": "ISdept/piper_arm",
+    "repo_id": null,
     "private": null,
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 64,
+    "horizon": 16,
     "n_action_steps": 8,
     "normalization_mapping": {
-        "ACTION": "IDENTITY",
+        "VISUAL": "IDENTITY",
         "STATE": "IDENTITY",
-        "VISUAL": "IDENTITY"
+        "ACTION": "IDENTITY"
     },
-    "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",
-    "crop_shape": [
-        84,
-        84
-    ],
-    "crop_is_random": true,
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "use_group_norm": false,
-    "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": false,
+    "input_image_size": [
+        320,
+        320
+    ],
+    "state_dim": 7,
+    "action_dim": 7,
+    "joint_weights": [
+        1.0,
+        1.0,
+        1.0,
+        0.0,
+        1.0,
+        1.0,
+        1.0
+    ],
+    "d_model": 512,
+    "nhead": 8,
+    "num_encoder_layers": 4,
+    "dim_feedforward": 512,
+    "diffusion_step_embed_dim": 256,
     "down_dims": [
         512,
         1024,
@@ -66,18 +78,7 @@
     ],
     "kernel_size": 5,
     "n_groups": 8,
-    "diffusion_step_embed_dim": 128,
     "use_film_scale_modulation": true,
-    "noise_scheduler_type": "DDPM",
-    "num_train_timesteps": 100,
-    "beta_schedule": "squaredcos_cap_v2",
-    "beta_start": 0.0001,
-    "beta_end": 0.02,
-    "prediction_type": "epsilon",
-    "clip_sample": true,
-    "clip_sample_range": 1.0,
-    "num_inference_steps": null,
-    "do_mask_loss_for_padding": false,
     "optimizer_lr": 0.0001,
     "optimizer_betas": [
         0.95,

model.safetensors

@@ -1,3 +1,3 @@
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-size 1066805588
+oid sha256:87cc8b667b825a9517b27b6195218c6bcc24c54ac2afcc9a2391a22b34b39d20
+size 1188798492

policy_postprocessor.json

@@ -14,9 +14,9 @@
           }
         },
         "norm_map": {
-          "ACTION": "IDENTITY",
+          "VISUAL": "IDENTITY",
           "STATE": "IDENTITY",
-          "VISUAL": "IDENTITY"
+          "ACTION": "IDENTITY"
         }
       },
       "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"

policy_postprocessor_step_0_unnormalizer_processor.safetensors

@@ -1,3 +1,3 @@
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 size 4000

policy_preprocessor.json

@@ -53,9 +53,9 @@
           }
         },
         "norm_map": {
-          "ACTION": "IDENTITY",
+          "VISUAL": "IDENTITY",
           "STATE": "IDENTITY",
-          "VISUAL": "IDENTITY"
+          "ACTION": "IDENTITY"
         }
       },
       "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"

policy_preprocessor_step_3_normalizer_processor.safetensors

@@ -1,3 +1,3 @@
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 size 4000