| { |
| "type": "diffusion", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.images.front": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": "gaspardthrl/diffusion-A3-cls", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "horizon": 32, |
| "n_action_steps": 16, |
| "normalization_mapping": { |
| "VISUAL": "MEAN_STD", |
| "STATE": "MIN_MAX", |
| "ACTION": "MEAN_STD" |
| }, |
| "drop_n_last_frames": 16, |
| "use_relative_actions": true, |
| "relative_exclude_joints": [ |
| "gripper" |
| ], |
| "action_feature_names": [ |
| "shoulder_pan.pos", |
| "shoulder_lift.pos", |
| "elbow_flex.pos", |
| "wrist_flex.pos", |
| "wrist_roll.pos", |
| "gripper.pos" |
| ], |
| "proprio_dropout": 0.3, |
| "state_indices": null, |
| "action_normalization_mode": "MEAN_STD", |
| "use_subtask_classifier": true, |
| "subtask_classifier_repo": "gaspardthrl/walleed-subtask-cls", |
| "subtask_classifier_filename": "dinov2_s/best.pt", |
| "subtask_classifier_path": null, |
| "subtask_classifier_n_classes": 8, |
| "subtask_classifier_image_key": null, |
| "subtask_prev_array_path": "./data/meta/prev_subtask.npy", |
| "subtask_dataset_state_stats_path": "./data/meta/subtask_state_stats.json", |
| "use_eef_actions": false, |
| "eef_poses_path": null, |
| "eef_stats_path": null, |
| "eef_action_dim": 10, |
| "vision_backbone": "resnet18", |
| "resize_shape": [ |
| 96, |
| 96 |
| ], |
| "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, |
| "image_grayworld": true, |
| "image_grayscale": true, |
| "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": 3.0, |
| "num_inference_steps": null, |
| "compile_model": false, |
| "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 |
| } |
