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awm_diffusion_policy

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awm_diffusion_policy
File size: 1,983 Bytes
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{
    "type": "awm",
    "n_obs_steps": 1,
    "input_features": {
        "observation.image": {
            "type": "VISUAL",
            "shape": [
                3,
                96,
                96
            ]
        },
        "observation.state": {
            "type": "STATE",
            "shape": [
                2
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                2
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": true,
    "repo_id": "anantk2006/awm_diffusion_policy",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "chunk_size": 10,
    "n_action_steps": 5,
    "normalization_mapping": {
        "VISUAL": "MEAN_STD",
        "STATE": "MEAN_STD",
        "ACTION": "MIN_MAX"
    },
    "vision_backbone": "resnet18",
    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
    "replace_final_stride_with_dilation": false,
    "pre_norm": false,
    "dim_model": 512,
    "n_heads": 8,
    "dim_feedforward": 3200,
    "feedforward_activation": "relu",
    "n_encoder_layers": 4,
    "n_decoder_layers": 4,
    "cross_attn_dim": 512,
    "action_token_vocab_size": 128,
    "action_ranges": null,
    "dropout": 0.1,
    "wm_loss_weight": 0.1,
    "detach_encoder_from_wm": false,
    "use_normalized_mse_wm_loss": false,
    "wm_variance_loss_weight": 0.1,
    "use_ema_target": false,
    "ema_momentum": 0.996,
    "ema_momentum_end": 0.999,
    "ema_anneal_steps": 50000,
    "n_wm_decoder_layers": 4,
    "decoder_loss_weight": 0.1,
    "n_image_viz_pairs": 12,
    "optimizer_lr": 0.0002,
    "optimizer_weight_decay": 0.0,
    "optimizer_lr_backbone": 1e-05,
    "optimizer_grad_clip_norm": 1.0,
    "use_lr_schedule": false,
    "scheduler_warmup_steps": 5000,
    "scheduler_decay_steps": 100000,
    "scheduler_decay_lr": 0.0
}