| { |
| "type": "diffusion", |
| "n_obs_steps": 2, |
| "input_features": { |
| "observation.pointcloud": { |
| "type": "STATE", |
| "shape": [ |
| 2048, |
| 4 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 3 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 4 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": "cagedBirdy/block_xyzi_sparse_2048", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": "/scratch/nirmal/oct_il/medcvr-il/runs/19546417/checkpoints/checkpoints/090000/pretrained_model", |
| "horizon": 16, |
| "n_action_steps": 8, |
| "normalization_mapping": { |
| "STATE": "MIN_MAX", |
| "ACTION": "MIN_MAX", |
| "observation.pointcloud": "IDENTITY", |
| "observation.state": "IDENTITY" |
| }, |
| "drop_n_last_frames": 7, |
| "vision_backbone": "resnet18", |
| "resize_shape": null, |
| "crop_ratio": 1.0, |
| "crop_shape": null, |
| "crop_is_random": true, |
| "pretrained_backbone_weights": null, |
| "use_group_norm": true, |
| "spatial_softmax_num_keypoints": 32, |
| "use_separate_rgb_encoder_per_camera": false, |
| "use_vit_encoder": false, |
| "use_multi_camera_shared_vit": false, |
| "vit_embed_dim": 512, |
| "vit_depth": 6, |
| "vit_num_heads": 8, |
| "vit_dropout": 0.1, |
| "pointcloud_encoder_type": "sparse_resnet", |
| "pointcloud_encoder_hidden_dims": [ |
| 64, |
| 128, |
| 256 |
| ], |
| "pointcloud_encoder_output_dim": 128, |
| "dp3_use_fourier_features": false, |
| "dp3_fourier_n_wavelengths": 16, |
| "dp3_fourier_max_wavelength": 2.0, |
| "dp3_fourier_min_wavelength": 0.1, |
| "pointcloud_encoder_grid_size": 400, |
| "pointcloud_encoder_channels": [ |
| 32, |
| 64, |
| 128, |
| 256 |
| ], |
| "pointcloud_encoder_blocks_per_stage": [ |
| 2, |
| 2, |
| 2, |
| 2 |
| ], |
| "pointcloud_encoder_num_latents": 64, |
| "pointcloud_encoder_attention_heads": 4, |
| "down_dims": [ |
| 512, |
| 1024, |
| 2048 |
| ], |
| "kernel_size": 5, |
| "n_groups": 8, |
| "diffusion_step_embed_dim": 128, |
| "use_film_scale_modulation": true, |
| "noise_scheduler_type": "DDPM", |
| "num_train_timesteps": 100, |
| "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": 20, |
| "compile_model": true, |
| "compile_mode": "reduce-overhead", |
| "do_mask_loss_for_padding": false, |
| "optimizer_lr": 0.0001, |
| "optimizer_betas": [ |
| 0.95, |
| 0.999 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 1e-06, |
| "scheduler_name": "cosine", |
| "scheduler_warmup_steps": 500 |
| } |
