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diffusion_policy
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{
    "num_steps": 40000,
    "eval_every": 800000,
    "validate_every": 1000000,
    "save_every": 5000,
    "ckpt_dir": "/home/jovyan/tzb/liyx/minidp/ckpt/3_cameras_no_folding__320_240_32_1e-4_numsteps_40000_sub_0_first",
    "resume": 0,
    "episode_len": 1000,
    "state_dim": 14,
    "lr": 0.0001,
    "policy_class": "DroidDiffusion",
    "onscreen_render": false,
    "policy_config": {
        "lr": 0.0001,
        "camera_names": [
            "cam_high",
            "cam_left_wrist",
            "cam_right_wrist"
        ],
        "state_dim": 14,
        "action_dim": 14,
        "observation_horizon": 1,
        "prediction_horizon": 48,
        "num_queries": 48,
        "num_inference_timesteps": 10,
        "ema_power": 0.75,
        "vq": false,
        "use_lang": true,
        "backbone": "resnet50",
        "weight_decay": 0.0,
        "pool_class": "SpatialSoftmax",
        "stsm_num_kp": 512,
        "img_fea_dim": 512,
        "cond_obs_dim": 512,
        "num_noise_samples": 8,
        "use_color_rand": false,
        "double_arm": 1,
        "image_size_w": 320,
        "image_size_h": 240,
        "use_filmfusion": 1,
        "lr_backbone": 0.0001,
        "use_resnet_film": 0,
        "use_moe": 0,
        "ema_update_frequency": 1,
        "ema_update_after_step": 0
    },
    "task_name": "3_cameras_no_folding",
    "seed": 0,
    "camera_names": [
        "cam_high",
        "cam_left_wrist",
        "cam_right_wrist"
    ],
    "action_dim": 14,
    "load_pretrain": false,
    "actuator_config": {
        "actuator_network_dir": null,
        "history_len": null,
        "future_len": null,
        "prediction_len": null
    },
    "use_lang": true,
    "use_resnet_film": 0,
    "ema_update_frequency": 1
}