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diffusion_policy

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diffusion_policy
File size: 2,465 Bytes
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{
    "dataset": {
        "repo_id": "nvail23/franka_point_housing",
        "root": "/home/sf-isaaclab-01/.cache/huggingface/lerobot/franka_6/point_housing_20260302_v01",
        "episodes": null,
        "revision": null,
        "use_imagenet_stats": true,
        "video_backend": "torchcodec",
        "streaming": false
    },
    "env": null,
    "policy": {
        "n_obs_steps": 2,
        "device": "cpu",
        "use_amp": false,
        "repo_id": "nvail23/diffusion_policy",
        "private": null,
        "tags": null,
        "license": null,
        "pretrained_path": null,
        "horizon": 16,
        "n_action_steps": 8,
        "drop_n_last_frames": 7,
        "vision_backbone": "resnet18",
        "crop_is_random": true,
        "pretrained_backbone_weights": null,
        "use_group_norm": true,
        "spatial_softmax_num_keypoints": 32,
        "use_separate_rgb_encoder_per_camera": false,
        "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": null,
        "do_mask_loss_for_padding": false,
        "optimizer_lr": 0.0001,
        "optimizer_eps": 1e-08,
        "optimizer_weight_decay": 1e-06,
        "scheduler_name": "cosine",
        "scheduler_warmup_steps": 500
    },
    "output_dir": "outputs/train/diffusion_test",
    "job_name": "diffusion_policy_test7",
    "resume": false,
    "seed": 1000,
    "num_workers": 4,
    "batch_size": 8,
    "steps": 20000,
    "eval_freq": 2000,
    "log_freq": 200,
    "save_checkpoint": true,
    "save_freq": 10000,
    "use_policy_training_preset": true,
    "eval": {
        "n_episodes": 10,
        "batch_size": 8,
        "use_async_envs": false
    },
    "wandb": {
        "enable": false,
        "disable_artifact": false,
        "project": "lerobot",
        "entity": null,
        "notes": null,
        "run_id": null,
        "mode": "online"
    },
    "optimizer": {
        "lr": 0.0001,
        "weight_decay": 1e-06,
        "grad_clip_norm": 10.0,
        "eps": 1e-08
    },
    "scheduler": {
        "num_warmup_steps": 500,
        "name": "cosine"
    }
}