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{
"args": {
"dataset_dir": "datasets/hepha_act_200_simple_drawer_5",
"output_dir": "runs/hepha_diffusion_200_simple_drawer_5_obs4",
"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": null,
"diffusion_step_embed_dim": 256,
"down_dims": [
256,
512,
1024
],
"kernel_size": 5,
"n_groups": 8,
"cond_predict_scale": 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,
"dropout": 0.1,
"val_ratio": 0.1,
"val_every_steps": 4000,
"seed": 42,
"log_every": 50,
"save_every": 0,
"save_every_steps": 4000,
"resume": null,
"amp": true,
"device": "cuda",
"wandb_project": "hepha-diffusion",
"wandb_entity": null,
"wandb_name": "hepha-diffusion-200-simple-drawer-5-obs4",
"wandb_tags": null,
"wandb_mode": null,
"wandb_log_checkpoints": false,
"hf_model_repo_id": "tmeynier/hepha-diffusion-200-simple-drawer-5-obs4",
"hf_revision": null,
"hf_private": true,
"hf_upload_every": null,
"hf_upload_every_steps": 4000,
"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": 50,
"obs_feature_dim": 512,
"diffusion_step_embed_dim": 256,
"down_dims": [
256,
512,
1024
],
"kernel_size": 5,
"n_groups": 8,
"cond_predict_scale": 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
},
"dataset_info": {
"dataset_dir": "datasets/hepha_act_200_simple_drawer_5",
"total_frames": 253867,
"episodes": 200,
"state_dim": 16,
"action_dim": 15
}
}