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aloha_solo_left_act_diffusion_40k

Robotics
LeRobot
Safetensors
act
diffusion
imitation-learning
behavior-cloning
aloha
pytorch_model_hub_mixin
model_hub_mixin
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aloha_solo_left_act_diffusion_40k
File size: 1,336 Bytes
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{
  "beta_end": 0.02,
  "beta_schedule": "squaredcos_cap_v2",
  "beta_start": 0.0001,
  "chunk_size": 100,
  "clip_sample": true,
  "clip_sample_range": 1.0,
  "diffusion_step_embed_dim": 128,
  "dim_feedforward": 3200,
  "dim_model": 512,
  "do_mask_loss_for_padding": true,
  "down_dims": [
    256,
    512
  ],
  "dropout": 0.1,
  "feedforward_activation": "relu",
  "input_normalization_modes": {
    "observation.images.cam_high": "mean_std",
    "observation.images.cam_left_wrist": "mean_std",
    "observation.state": "mean_std"
  },
  "input_shapes": {
    "observation.images.cam_high": [
      3,
      480,
      640
    ],
    "observation.images.cam_left_wrist": [
      3,
      480,
      640
    ],
    "observation.state": [
      9
    ]
  },
  "kernel_size": 5,
  "n_action_steps": 100,
  "n_encoder_layers": 4,
  "n_groups": 8,
  "n_heads": 8,
  "n_obs_steps": 1,
  "noise_scheduler_type": "DDPM",
  "num_inference_steps": 10,
  "num_train_timesteps": 100,
  "output_normalization_modes": {
    "action": "mean_std"
  },
  "output_shapes": {
    "action": [
      9
    ]
  },
  "pre_norm": false,
  "prediction_type": "epsilon",
  "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
  "replace_final_stride_with_dilation": false,
  "use_film_scale_modulation": true,
  "vision_backbone": "resnet18"
}