Upload policy
Browse files- config.json +90 -0
- model.safetensors +3 -0
config.json
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{
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"type": "diffusion",
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"n_obs_steps": 2,
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"input_features": {
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"observation.images.cam0": {
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"type": "VISUAL",
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"shape": [
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3,
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720,
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960
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]
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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11
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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11
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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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"use_peft": false,
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"push_to_hub": true,
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"repo_id": null,
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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path": null,
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"horizon": 16,
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"n_action_steps": 8,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MIN_MAX",
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"ACTION": "MIN_MAX"
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},
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"drop_n_last_frames": 7,
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"vision_backbone": "resnet18",
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"resize_shape": [
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224,
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224
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],
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"crop_ratio": 1.0,
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"crop_shape": null,
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"crop_is_random": true,
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"pretrained_backbone_weights": null,
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"use_group_norm": true,
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"spatial_softmax_num_keypoints": 32,
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"use_separate_rgb_encoder_per_camera": false,
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"down_dims": [
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256,
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512,
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1024
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],
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"kernel_size": 5,
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"n_groups": 8,
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"diffusion_step_embed_dim": 128,
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"use_film_scale_modulation": true,
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"noise_scheduler_type": "DDIM",
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"num_train_timesteps": 50,
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"beta_schedule": "squaredcos_cap_v2",
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"beta_start": 0.0001,
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"beta_end": 0.02,
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"prediction_type": "epsilon",
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"clip_sample": true,
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"clip_sample_range": 1.0,
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"num_inference_steps": 16,
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"compile_model": false,
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"compile_mode": "reduce-overhead",
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"do_mask_loss_for_padding": false,
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"use_relative_actions": false,
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"relative_exclude_joints": [],
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"action_feature_names": null,
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"optimizer_lr": 0.0003,
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"optimizer_betas": [
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0.95,
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0.999
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 1e-06,
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"scheduler_name": "cosine",
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"scheduler_warmup_steps": 2000
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}
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model.safetensors
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:af490268d103e0dcf9ead1e5c8d3d561bbf93e1e700bde1dd5b492218d58b019
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size 305403988
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