| { |
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| "n_obs_steps": 1, |
| "input_features": { |
| "observation.image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 96, |
| 96 |
| ] |
| }, |
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| 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", |
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| "n_decoder_layers": 4, |
| "cross_attn_dim": 512, |
| "action_token_vocab_size": 128, |
| "action_ranges": null, |
| "dropout": 0.1, |
| "wm_loss_weight": 0.1, |
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| "ema_momentum": 0.996, |
| "ema_momentum_end": 0.999, |
| "ema_anneal_steps": 50000, |
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| "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 |
| } |
