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config.json

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+{
+    "type": "diffusion",
+    "n_obs_steps": 2,
+    "input_features": {
+        "observation.images.cam0": {
+            "type": "VISUAL",
+            "shape": [
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+                720,
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+            ]
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+            "shape": [
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+            ]
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+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                11
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": true,
+    "repo_id": null,
+    "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": [
+        236,
+        236
+    ],
+    "crop_ratio": 0.95,
+    "crop_shape": [
+        224,
+        224
+    ],
+    "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": [
+        256,
+        512,
+        1024
+    ],
+    "kernel_size": 5,
+    "n_groups": 8,
+    "diffusion_step_embed_dim": 128,
+    "use_film_scale_modulation": true,
+    "noise_scheduler_type": "DDIM",
+    "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,
+    "num_inference_steps": 16,
+    "compile_model": false,
+    "compile_mode": "reduce-overhead",
+    "do_mask_loss_for_padding": false,
+    "use_relative_actions": false,
+    "relative_exclude_joints": [],
+    "action_feature_names": null,
+    "optimizer_lr": 0.0003,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 2000
+}

model.safetensors

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policy_postprocessor.json

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+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
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+            "shape": [
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+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "absolute_actions_processor",
+      "config": {
+        "enabled": false
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

policy_postprocessor_step_0_unnormalizer_processor.safetensors

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policy_preprocessor.json

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+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "delta_actions_processor",
+      "config": {
+        "enabled": false,
+        "exclude_joints": [],
+        "action_names": null
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+    {
+      "registry_name": "normalizer_processor",
+      "config": {
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+            "type": "VISUAL",
+            "shape": [
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+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
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+      "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors"
+    }
+  ]
+}

policy_preprocessor_step_4_normalizer_processor.safetensors

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train_state.pt

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