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bimanual_diffusion

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bimanual_diffusion
File size: 3,321 Bytes
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{
    "type": "diffusion",
    "n_obs_steps": 2,
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                12
            ]
        },
        "observation.images.left_cam_left": {
            "type": "VISUAL",
            "shape": [
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                640
            ]
        },
        "observation.images.left_cam_scene": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        },
        "observation.images.right_cam_right": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        },
        "observation.images.cam_realsense_rgb": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        },
        "observation.depth.cam_realsense": {
            "type": "STATE",
            "shape": [
                480,
                640
            ]
        },
        "observation.images.cam_realsense_ir_left": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        },
        "observation.images.cam_realsense_ir_right": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        },
        "observation.camera_intrinsics.realsense": {
            "type": "STATE",
            "shape": [
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            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
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            ]
        }
    },
    "device": "cuda",
    "use_amp": true,
    "use_peft": false,
    "push_to_hub": true,
    "repo_id": "K-vr/bimanual_diffusion",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "horizon": 16,
    "n_action_steps": 8,
    "normalization_mapping": {
        "VISUAL": "MEAN_STD",
        "STATE": "MIN_MAX",
        "ACTION": "MIN_MAX"
    },
    "drop_n_last_frames": 7,
    "vision_backbone": "resnet18",
    "resize_shape": [
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    ],
    "crop_ratio": 1.0,
    "crop_shape": null,
    "crop_is_random": true,
    "pretrained_backbone_weights": null,
    "use_group_norm": true,
    "spatial_softmax_num_keypoints": 32,
    "use_separate_rgb_encoder_per_camera": false,
    "down_dims": [
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        256,
        512
    ],
    "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,
    "compile_model": false,
    "compile_mode": "reduce-overhead",
    "do_mask_loss_for_padding": false,
    "optimizer_lr": 0.0001,
    "optimizer_betas": [
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        0.999
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 1e-06,
    "scheduler_name": "cosine",
    "scheduler_warmup_steps": 500
}