{ "args": { "dataset_dir": "datasets/hepha_act_100_simple_drawer_5", "output_dir": "runs/hepha_diffusion_100_simple_drawer_5_transformer", "epochs": 50, "batch_size": 16, "num_workers": 4, "lr": 0.0001, "weight_decay": 1e-06, "chunk_size": 50, "image_height": 240, "image_width": 320, "obs_feature_dim": 512, "n_obs_steps": 4, "n_action_steps": 16, "diffusion_step_embed_dim": 256, "denoiser": "transformer", "down_dims": [ 256, 512, 1024 ], "kernel_size": 5, "n_groups": 8, "cond_predict_scale": true, "transformer_layers": 8, "transformer_heads": 8, "transformer_dim_feedforward": 2048, "transformer_cond_layers": 0, "transformer_causal_attn": true, "diffusion_steps": 100, "num_inference_steps": 100, "beta_schedule": "squaredcos_cap_v2", "prediction_type": "epsilon", "backbone": "resnet18", "lr_backbone": 1e-05, "no_pretrained_backbone": false, "crop_height": null, "crop_width": null, "dropout": 0.1, "lr_warmup_steps": 500, "val_ratio": 0.1, "val_every_steps": 2000, "seed": 42, "log_every": 50, "save_every": 0, "save_every_steps": 2000, "resume": null, "amp": true, "device": "cuda", "wandb_project": "hepha-diffusion", "wandb_entity": null, "wandb_name": "hepha-diffusion-100-simple-drawer-5-transformer", "wandb_tags": null, "wandb_mode": null, "wandb_log_checkpoints": false, "hf_model_repo_id": "tmeynier/hepha-diffusion-100-simple-drawer-5-transformer", "hf_revision": null, "hf_private": true, "hf_upload_every": null, "hf_upload_every_steps": 2000, "hf_upload_fail_training": false }, "model_config": { "state_dim": 16, "action_dim": 15, "chunk_size": 50, "horizon": 50, "n_obs_steps": 4, "n_action_steps": 16, "obs_feature_dim": 512, "diffusion_step_embed_dim": 256, "denoiser": "transformer", "down_dims": [ 256, 512, 1024 ], "kernel_size": 5, "n_groups": 8, "cond_predict_scale": true, "transformer_layers": 8, "transformer_heads": 8, "transformer_dim_feedforward": 2048, "transformer_cond_layers": 0, "transformer_causal_attn": true, "diffusion_steps": 100, "num_inference_steps": 100, "beta_start": 0.0001, "beta_end": 0.02, "beta_schedule": "squaredcos_cap_v2", "prediction_type": "epsilon", "clip_sample": true, "dropout": 0.1, "backbone": "resnet18", "pretrained_backbone": true, "crop_height": 216, "crop_width": 288 }, "dataset_info": { "dataset_dir": "datasets/hepha_act_100_simple_drawer_5", "total_frames": 200000, "episodes": 100, "state_dim": 16, "action_dim": 15, "normalizer": { "mode": "limits", "state_offset": [ 0.5153066543862224, 0.5881318300962448, 0.7083333283662796, 0.3882358446717262, 0.30765194282867014, 0.5178910288959742, 0.4271558867767453, 0.5, 0.6233630478382111, 0.20346606895327568, 0.55288165807724, 0.4580320715904236, 0.5001527502172394, 0.5, 0.5, 0.5 ], "state_scale": [ 0.48468315321952105, 0.3150710016489029, 0.2916666716337204, 0.31237538903951645, 0.3067184032406658, 0.4759374465793371, 0.4015634311363101, 0.5, 0.2835608422756195, 0.11999200657010078, 0.44711834192276, 0.2851250171661377, 0.4998472497827606, 0.5, 0.5, 1.0 ], "action_offset": [ 0.5152931213378906, 0.5875480771064758, 0.7083333283662796, 0.39343979954719543, 0.3081638216972351, 0.5205638874322176, 0.455325398594141, 0.5, 0.6158838868141174, 0.20901485532522202, 0.5, 0.46368787437677383, 0.5001716946717352, 0.5, 0.5 ], "action_scale": [ 0.4847068786621094, 0.31383126974105835, 0.2916666716337204, 0.3037284314632416, 0.3081638216972351, 0.4794361125677824, 0.36030807718634605, 0.5, 0.27900099754333496, 0.1144387498497963, 0.5, 0.27640219777822495, 0.49982830532826483, 0.5, 0.5 ] } } }