Upload 3 files
Browse files- config.json +65 -0
- dataset_stats.pkl +3 -0
- policy_step_40000_2025-04-18_17-15-49.ckpt +3 -0
config.json
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{
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"num_steps": 40000,
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"eval_every": 800000,
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"validate_every": 1000000,
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"save_every": 5000,
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"ckpt_dir": "/home/jovyan/tzb/liyx/minidp/ckpt/3_cameras_no_folding__320_240_32_1e-4_numsteps_40000_sub_0_first",
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"resume": 0,
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"episode_len": 1000,
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"state_dim": 14,
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"lr": 0.0001,
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"policy_class": "DroidDiffusion",
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"onscreen_render": false,
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"policy_config": {
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"lr": 0.0001,
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"camera_names": [
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"cam_high",
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"cam_left_wrist",
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"cam_right_wrist"
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],
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"state_dim": 14,
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"action_dim": 14,
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"observation_horizon": 1,
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"prediction_horizon": 48,
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"num_queries": 48,
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"num_inference_timesteps": 10,
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"ema_power": 0.75,
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"vq": false,
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"use_lang": true,
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"backbone": "resnet50",
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"weight_decay": 0.0,
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"pool_class": "SpatialSoftmax",
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"stsm_num_kp": 512,
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"img_fea_dim": 512,
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"cond_obs_dim": 512,
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"num_noise_samples": 8,
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"use_color_rand": false,
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"double_arm": 1,
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"image_size_w": 320,
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"image_size_h": 240,
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"use_filmfusion": 1,
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"lr_backbone": 0.0001,
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"use_resnet_film": 0,
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"use_moe": 0,
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"ema_update_frequency": 1,
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"ema_update_after_step": 0
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},
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"task_name": "3_cameras_no_folding",
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"seed": 0,
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"camera_names": [
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"cam_high",
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"cam_left_wrist",
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"cam_right_wrist"
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],
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"action_dim": 14,
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"load_pretrain": false,
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"actuator_config": {
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"actuator_network_dir": null,
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"history_len": null,
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"future_len": null,
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"prediction_len": null
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},
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"use_lang": true,
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"use_resnet_film": 0,
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"ema_update_frequency": 1
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}
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dataset_stats.pkl
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version https://git-lfs.github.com/spec/v1
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oid sha256:0540366af42809368f64ce9b5008ff2eef92d589d94c1df3e37bc1f91e522f62
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size 10843
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policy_step_40000_2025-04-18_17-15-49.ckpt
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version https://git-lfs.github.com/spec/v1
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oid sha256:afe82e06cf4702432ea5d13800f3b7046736bd9c8a1c6d1310522115f3e961a8
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size 2454627840
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