| { | |
| "type": "hybrid_act_diffusion", | |
| "n_obs_steps": 1, | |
| "normalization_mapping": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "input_features": { | |
| "observation.images.top": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 14 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 14 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "chunk_size": 100, | |
| "n_action_steps": 100, | |
| "temporal_ensemble_coeff": null, | |
| "vision_backbone": "resnet18", | |
| "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", | |
| "replace_final_stride_with_dilation": false, | |
| "use_group_norm": true, | |
| "pre_norm": false, | |
| "dim_model": 512, | |
| "n_heads": 8, | |
| "dim_feedforward": 3200, | |
| "feedforward_activation": "relu", | |
| "n_encoder_layers": 4, | |
| "n_decoder_layers": 1, | |
| "use_vae": true, | |
| "latent_dim": 32, | |
| "n_vae_encoder_layers": 4, | |
| "noise_scheduler_type": "DDPM", | |
| "num_train_timesteps": 50, | |
| "beta_schedule": "squaredcos_cap_v2", | |
| "beta_start": 0.0001, | |
| "beta_end": 0.02, | |
| "prediction_type": "epsilon", | |
| "clip_sample": true, | |
| "clip_sample_range": 1.0, | |
| "diffusion_refine_steps": 3, | |
| "spatial_softmax_num_keypoints": 32, | |
| "diffusion_down_dims": [ | |
| 256, | |
| 512 | |
| ], | |
| "diffusion_kernel_size": 3, | |
| "diffusion_n_groups": 8, | |
| "diffusion_step_embed_dim": 64, | |
| "diffusion_use_film_scale_modulation": true, | |
| "hybrid_mode": "sequential", | |
| "hybrid_weight": 0.5, | |
| "keyframe_indices": [ | |
| 0, | |
| 49, | |
| 99 | |
| ], | |
| "diffusion_loss_weight": 1.0, | |
| "dropout": 0.1, | |
| "kl_weight": 1.0, | |
| "smoothness_weight": 0.0, | |
| "smoothness_type": "velocity", | |
| "optimizer_lr": 1e-05, | |
| "optimizer_weight_decay": 0.0001, | |
| "optimizer_lr_backbone": 1e-05, | |
| "optimizer_lr_diffusion": 0.0001, | |
| "scheduler_name": "cosine", | |
| "scheduler_num_warmup_steps": 500, | |
| "scheduler_num_training_steps": 30000 | |
| } |