Hugging Face's logo

RoboEval
/
roboeval-diffusion

Robotics
Safetensors
roboeval
diffusion
Model card Files
xet
 Community
helen9975 commited on
Commit
ee15aba
·
verified ·
1 Parent(s): c7d32bb

StackTwoBlocks: step 005000 weights

Browse files
Files changed (7) hide show
  1. StackTwoBlocks/config.json +99 -0
  2. StackTwoBlocks/model.safetensors +3 -0
  3. StackTwoBlocks/policy_postprocessor.json +32 -0
  4. StackTwoBlocks/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  5. StackTwoBlocks/policy_preprocessor.json +72 -0
  6. StackTwoBlocks/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  7. StackTwoBlocks/train_config.json +726 -0
StackTwoBlocks/config.json ADDED
@@ -0,0 +1,99 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "diffusion",
3
+ "n_obs_steps": 2,
4
+ "input_features": {
5
+ "observation.images.cam_head": {
6
+ "type": "VISUAL",
7
+ "shape": [
8
+ 3,
9
+ 256,
10
+ 256
11
+ ]
12
+ },
13
+ "observation.images.cam_left_wrist": {
14
+ "type": "VISUAL",
15
+ "shape": [
16
+ 3,
17
+ 256,
18
+ 256
19
+ ]
20
+ },
21
+ "observation.images.cam_right_wrist": {
22
+ "type": "VISUAL",
23
+ "shape": [
24
+ 3,
25
+ 256,
26
+ 256
27
+ ]
28
+ },
29
+ "observation.state": {
30
+ "type": "STATE",
31
+ "shape": [
32
+ 16
33
+ ]
34
+ }
35
+ },
36
+ "output_features": {
37
+ "action": {
38
+ "type": "ACTION",
39
+ "shape": [
40
+ 14
41
+ ]
42
+ }
43
+ },
44
+ "device": "cuda",
45
+ "use_amp": false,
46
+ "use_peft": false,
47
+ "push_to_hub": false,
48
+ "repo_id": null,
49
+ "private": null,
50
+ "tags": null,
51
+ "license": null,
52
+ "pretrained_path": null,
53
+ "horizon": 16,
54
+ "n_action_steps": 8,
55
+ "normalization_mapping": {
56
+ "VISUAL": "MEAN_STD",
57
+ "STATE": "MIN_MAX",
58
+ "ACTION": "MIN_MAX"
59
+ },
60
+ "drop_n_last_frames": 7,
61
+ "vision_backbone": "resnet18",
62
+ "crop_shape": [
63
+ 84,
64
+ 84
65
+ ],
66
+ "crop_is_random": true,
67
+ "pretrained_backbone_weights": null,
68
+ "use_group_norm": true,
69
+ "spatial_softmax_num_keypoints": 32,
70
+ "use_separate_rgb_encoder_per_camera": false,
71
+ "down_dims": [
72
+ 512,
73
+ 1024,
74
+ 2048
75
+ ],
76
+ "kernel_size": 5,
77
+ "n_groups": 8,
78
+ "diffusion_step_embed_dim": 128,
79
+ "use_film_scale_modulation": true,
80
+ "noise_scheduler_type": "DDPM",
81
+ "num_train_timesteps": 100,
82
+ "beta_schedule": "squaredcos_cap_v2",
83
+ "beta_start": 0.0001,
84
+ "beta_end": 0.02,
85
+ "prediction_type": "epsilon",
86
+ "clip_sample": true,
87
+ "clip_sample_range": 1.0,
88
+ "num_inference_steps": null,
89
+ "do_mask_loss_for_padding": false,
90
+ "optimizer_lr": 0.0001,
91
+ "optimizer_betas": [
92
+ 0.95,
93
+ 0.999
94
+ ],
95
+ "optimizer_eps": 1e-08,
96
+ "optimizer_weight_decay": 1e-06,
97
+ "scheduler_name": "cosine",
98
+ "scheduler_warmup_steps": 500
99
+ }
StackTwoBlocks/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5808d14c36e0832594db74c225d09f5dd750e68289eeebfe2b199598f04cda58
3
+ size 1083604936
StackTwoBlocks/policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 14
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MIN_MAX",
19
+ "ACTION": "MIN_MAX"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
StackTwoBlocks/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ce357734e4942a37891e12d1d1d546efa14f70d156003dd33255010a73c28c0c
3
+ size 16036
StackTwoBlocks/policy_preprocessor.json ADDED
@@ -0,0 +1,72 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.images.cam_head": {
27
+ "type": "VISUAL",
28
+ "shape": [
29
+ 3,
30
+ 256,
31
+ 256
32
+ ]
33
+ },
34
+ "observation.images.cam_left_wrist": {
35
+ "type": "VISUAL",
36
+ "shape": [
37
+ 3,
38
+ 256,
39
+ 256
40
+ ]
41
+ },
42
+ "observation.images.cam_right_wrist": {
43
+ "type": "VISUAL",
44
+ "shape": [
45
+ 3,
46
+ 256,
47
+ 256
48
+ ]
49
+ },
50
+ "observation.state": {
51
+ "type": "STATE",
52
+ "shape": [
53
+ 16
54
+ ]
55
+ },
56
+ "action": {
57
+ "type": "ACTION",
58
+ "shape": [
59
+ 14
60
+ ]
61
+ }
62
+ },
63
+ "norm_map": {
64
+ "VISUAL": "MEAN_STD",
65
+ "STATE": "MIN_MAX",
66
+ "ACTION": "MIN_MAX"
67
+ }
68
+ },
69
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
70
+ }
71
+ ]
72
+ }
StackTwoBlocks/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ce357734e4942a37891e12d1d1d546efa14f70d156003dd33255010a73c28c0c
3
+ size 16036
StackTwoBlocks/train_config.json ADDED
@@ -0,0 +1,726 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "roboeval_ee_delta_20hz_v3_merged",
4
+ "root": "/weka/helenw/data/huggingface/lerobot/roboeval_ee_delta_20hz_v3_merged",
5
+ "episodes": [
6
+ 2438,
7
+ 2439,
8
+ 2440,
9
+ 2441,
10
+ 2442,
11
+ 2443,
12
+ 2444,
13
+ 2445,
14
+ 2446,
15
+ 2447,
16
+ 2448,
17
+ 2449,
18
+ 2450,
19
+ 2451,
20
+ 2452,
21
+ 2453,
22
+ 2454,
23
+ 2455,
24
+ 2456,
25
+ 2457,
26
+ 2458,
27
+ 2459,
28
+ 2460,
29
+ 2461,
30
+ 2462,
31
+ 2463,
32
+ 2464,
33
+ 2465,
34
+ 2466,
35
+ 2467,
36
+ 2468,
37
+ 2469,
38
+ 2470,
39
+ 2471,
40
+ 2472,
41
+ 2473,
42
+ 2474,
43
+ 2475,
44
+ 2476,
45
+ 2477,
46
+ 2478,
47
+ 2479,
48
+ 2480,
49
+ 2481,
50
+ 2482,
51
+ 2483,
52
+ 2484,
53
+ 2485,
54
+ 2486,
55
+ 2487,
56
+ 2488,
57
+ 2489,
58
+ 2490,
59
+ 2491,
60
+ 2492,
61
+ 2493,
62
+ 2494,
63
+ 2495,
64
+ 2496,
65
+ 2497,
66
+ 2498,
67
+ 2499,
68
+ 2500,
69
+ 2501,
70
+ 2502,
71
+ 2503,
72
+ 2504,
73
+ 2505,
74
+ 2506,
75
+ 2507,
76
+ 2508,
77
+ 2509,
78
+ 2510,
79
+ 2511,
80
+ 2512,
81
+ 2513,
82
+ 2514,
83
+ 2515,
84
+ 2516,
85
+ 2517,
86
+ 2518,
87
+ 2519,
88
+ 2520,
89
+ 2521,
90
+ 2522,
91
+ 2523,
92
+ 2524,
93
+ 2525,
94
+ 2526,
95
+ 2527,
96
+ 2528,
97
+ 2529,
98
+ 2530,
99
+ 2531,
100
+ 2532,
101
+ 2533,
102
+ 2534,
103
+ 2535,
104
+ 2536,
105
+ 2537,
106
+ 2538,
107
+ 2539,
108
+ 2540,
109
+ 2541,
110
+ 2542,
111
+ 2543,
112
+ 2544,
113
+ 2545,
114
+ 2546,
115
+ 2547,
116
+ 2548,
117
+ 2549,
118
+ 2550,
119
+ 2551,
120
+ 2552,
121
+ 2553,
122
+ 2554,
123
+ 2555,
124
+ 2556,
125
+ 2557,
126
+ 2558,
127
+ 2559,
128
+ 2560,
129
+ 2561,
130
+ 2562,
131
+ 2563,
132
+ 2564,
133
+ 2565,
134
+ 2566,
135
+ 2567,
136
+ 2568,
137
+ 2569,
138
+ 2570,
139
+ 2571,
140
+ 2572,
141
+ 2573,
142
+ 2574,
143
+ 2575,
144
+ 2576,
145
+ 2577,
146
+ 2578,
147
+ 2579,
148
+ 2580,
149
+ 2581,
150
+ 2582,
151
+ 2583,
152
+ 2584,
153
+ 2585,
154
+ 2586,
155
+ 2587,
156
+ 2588,
157
+ 2589,
158
+ 2590,
159
+ 2591,
160
+ 2592,
161
+ 2593,
162
+ 2594,
163
+ 2595,
164
+ 2596,
165
+ 2597,
166
+ 2598,
167
+ 2599,
168
+ 2600,
169
+ 2601,
170
+ 2602,
171
+ 2603,
172
+ 2604,
173
+ 2605,
174
+ 2606,
175
+ 2607,
176
+ 2608,
177
+ 2609,
178
+ 2610,
179
+ 2611,
180
+ 2612,
181
+ 2613,
182
+ 2614,
183
+ 2615,
184
+ 2616,
185
+ 2617,
186
+ 2618,
187
+ 2619,
188
+ 2620,
189
+ 2621,
190
+ 2622,
191
+ 2623,
192
+ 2624,
193
+ 2625,
194
+ 2626,
195
+ 2627,
196
+ 2628,
197
+ 2629,
198
+ 2630,
199
+ 2631,
200
+ 2632,
201
+ 2633,
202
+ 2634,
203
+ 2635,
204
+ 2636,
205
+ 2637,
206
+ 2638,
207
+ 2639,
208
+ 2640,
209
+ 2641,
210
+ 2642,
211
+ 2643,
212
+ 2644,
213
+ 2645,
214
+ 2646,
215
+ 2647,
216
+ 2648,
217
+ 2649,
218
+ 2650,
219
+ 2651,
220
+ 2652,
221
+ 2653,
222
+ 2654,
223
+ 2655,
224
+ 2656,
225
+ 2657,
226
+ 2658,
227
+ 2659,
228
+ 2660,
229
+ 2661,
230
+ 2662,
231
+ 2663,
232
+ 2664,
233
+ 2665,
234
+ 2666,
235
+ 2667,
236
+ 2668,
237
+ 2669,
238
+ 2670,
239
+ 2671,
240
+ 2672,
241
+ 2673,
242
+ 2674,
243
+ 2675,
244
+ 2676,
245
+ 2677,
246
+ 2678,
247
+ 2679,
248
+ 2680,
249
+ 2681,
250
+ 2682,
251
+ 2683,
252
+ 2684,
253
+ 2685,
254
+ 2686,
255
+ 2687,
256
+ 2688,
257
+ 2689,
258
+ 2690,
259
+ 2691,
260
+ 2692,
261
+ 2693,
262
+ 2694,
263
+ 2695,
264
+ 2696,
265
+ 2697,
266
+ 2698,
267
+ 2699,
268
+ 2700,
269
+ 2701,
270
+ 2702,
271
+ 2703,
272
+ 2704,
273
+ 2705,
274
+ 2706,
275
+ 2707,
276
+ 2708,
277
+ 2709,
278
+ 2710,
279
+ 2711,
280
+ 2712,
281
+ 2713,
282
+ 2714,
283
+ 2715,
284
+ 2716,
285
+ 2717,
286
+ 2718,
287
+ 2719,
288
+ 2720,
289
+ 2721,
290
+ 2722,
291
+ 2723,
292
+ 2724,
293
+ 2725,
294
+ 2726,
295
+ 2727,
296
+ 2728,
297
+ 2729,
298
+ 2730,
299
+ 2731,
300
+ 2732,
301
+ 2733,
302
+ 2734,
303
+ 2735,
304
+ 2736,
305
+ 2737,
306
+ 2738,
307
+ 2739,
308
+ 2740,
309
+ 2741,
310
+ 2742,
311
+ 2743,
312
+ 2744,
313
+ 2745,
314
+ 2746,
315
+ 2747,
316
+ 2748,
317
+ 2749,
318
+ 2750,
319
+ 2751,
320
+ 2752,
321
+ 2753,
322
+ 2754,
323
+ 2755,
324
+ 2756,
325
+ 2757,
326
+ 2758,
327
+ 2759,
328
+ 2760,
329
+ 2761,
330
+ 2762,
331
+ 2763,
332
+ 2764,
333
+ 2765,
334
+ 2766,
335
+ 2767,
336
+ 2768,
337
+ 2769,
338
+ 2770,
339
+ 2771,
340
+ 2772,
341
+ 2773,
342
+ 2774,
343
+ 2775,
344
+ 2776,
345
+ 2777,
346
+ 2778,
347
+ 2779,
348
+ 2780,
349
+ 2781,
350
+ 2782,
351
+ 2783,
352
+ 2784,
353
+ 2785,
354
+ 2786,
355
+ 2787,
356
+ 2788,
357
+ 2789,
358
+ 2790,
359
+ 2791,
360
+ 2792,
361
+ 2793,
362
+ 2794,
363
+ 2795,
364
+ 2796,
365
+ 2797,
366
+ 2798,
367
+ 2799,
368
+ 2800,
369
+ 2801,
370
+ 2802,
371
+ 2803,
372
+ 2804,
373
+ 2805,
374
+ 2806,
375
+ 2807,
376
+ 2808,
377
+ 2809,
378
+ 2810,
379
+ 2811,
380
+ 2812,
381
+ 2813,
382
+ 2814,
383
+ 2815,
384
+ 2816,
385
+ 2817,
386
+ 2818,
387
+ 2819,
388
+ 2820,
389
+ 2821,
390
+ 2822,
391
+ 2823,
392
+ 2824,
393
+ 2825,
394
+ 2826,
395
+ 2827,
396
+ 2828,
397
+ 2829,
398
+ 2830,
399
+ 2831,
400
+ 2832,
401
+ 2833,
402
+ 2834,
403
+ 2835,
404
+ 2836,
405
+ 2837,
406
+ 2838,
407
+ 2839,
408
+ 2840,
409
+ 2841,
410
+ 2842,
411
+ 2843,
412
+ 2844,
413
+ 2845,
414
+ 2846,
415
+ 2847,
416
+ 2848,
417
+ 2849,
418
+ 2850,
419
+ 2851,
420
+ 2852,
421
+ 2853,
422
+ 2854,
423
+ 2855,
424
+ 2856,
425
+ 2857,
426
+ 2858,
427
+ 2859,
428
+ 2860,
429
+ 2861,
430
+ 2862,
431
+ 2863,
432
+ 2864,
433
+ 2865,
434
+ 2866,
435
+ 2867,
436
+ 2868,
437
+ 2869,
438
+ 2870,
439
+ 2871,
440
+ 2872,
441
+ 2873,
442
+ 2874,
443
+ 2875,
444
+ 2876,
445
+ 2877,
446
+ 2878,
447
+ 2879,
448
+ 2880,
449
+ 2881,
450
+ 2882,
451
+ 2883,
452
+ 2884,
453
+ 2885,
454
+ 2886,
455
+ 2887,
456
+ 2888,
457
+ 2889,
458
+ 2890,
459
+ 2891,
460
+ 2892,
461
+ 2893,
462
+ 2894,
463
+ 2895,
464
+ 2896,
465
+ 2897,
466
+ 2898,
467
+ 2899,
468
+ 2900,
469
+ 2901,
470
+ 2902,
471
+ 2903,
472
+ 2904,
473
+ 2905,
474
+ 2906,
475
+ 2907,
476
+ 2908,
477
+ 2909,
478
+ 2910,
479
+ 2911,
480
+ 2912,
481
+ 2913,
482
+ 2914,
483
+ 2915,
484
+ 2916,
485
+ 2917,
486
+ 2918,
487
+ 2919,
488
+ 2920,
489
+ 2921,
490
+ 2922,
491
+ 2923,
492
+ 2924,
493
+ 2925,
494
+ 2926,
495
+ 2927,
496
+ 2928,
497
+ 2929
498
+ ],
499
+ "image_transforms": {
500
+ "enable": true,
501
+ "max_num_transforms": 3,
502
+ "random_order": false,
503
+ "tfs": {
504
+ "brightness": {
505
+ "weight": 1.0,
506
+ "type": "ColorJitter",
507
+ "kwargs": {
508
+ "brightness": [
509
+ 0.8,
510
+ 1.2
511
+ ]
512
+ }
513
+ },
514
+ "contrast": {
515
+ "weight": 1.0,
516
+ "type": "ColorJitter",
517
+ "kwargs": {
518
+ "contrast": [
519
+ 0.8,
520
+ 1.2
521
+ ]
522
+ }
523
+ },
524
+ "saturation": {
525
+ "weight": 1.0,
526
+ "type": "ColorJitter",
527
+ "kwargs": {
528
+ "saturation": [
529
+ 0.5,
530
+ 1.5
531
+ ]
532
+ }
533
+ },
534
+ "hue": {
535
+ "weight": 1.0,
536
+ "type": "ColorJitter",
537
+ "kwargs": {
538
+ "hue": [
539
+ -0.05,
540
+ 0.05
541
+ ]
542
+ }
543
+ },
544
+ "sharpness": {
545
+ "weight": 1.0,
546
+ "type": "SharpnessJitter",
547
+ "kwargs": {
548
+ "sharpness": [
549
+ 0.5,
550
+ 1.5
551
+ ]
552
+ }
553
+ },
554
+ "affine": {
555
+ "weight": 1.0,
556
+ "type": "RandomAffine",
557
+ "kwargs": {
558
+ "degrees": [
559
+ -5.0,
560
+ 5.0
561
+ ],
562
+ "translate": [
563
+ 0.05,
564
+ 0.05
565
+ ]
566
+ }
567
+ }
568
+ }
569
+ },
570
+ "revision": "local",
571
+ "use_imagenet_stats": true,
572
+ "video_backend": "torchcodec",
573
+ "streaming": false
574
+ },
575
+ "env": null,
576
+ "policy": {
577
+ "type": "diffusion",
578
+ "n_obs_steps": 2,
579
+ "input_features": {
580
+ "observation.images.cam_head": {
581
+ "type": "VISUAL",
582
+ "shape": [
583
+ 3,
584
+ 256,
585
+ 256
586
+ ]
587
+ },
588
+ "observation.images.cam_left_wrist": {
589
+ "type": "VISUAL",
590
+ "shape": [
591
+ 3,
592
+ 256,
593
+ 256
594
+ ]
595
+ },
596
+ "observation.images.cam_right_wrist": {
597
+ "type": "VISUAL",
598
+ "shape": [
599
+ 3,
600
+ 256,
601
+ 256
602
+ ]
603
+ },
604
+ "observation.state": {
605
+ "type": "STATE",
606
+ "shape": [
607
+ 16
608
+ ]
609
+ }
610
+ },
611
+ "output_features": {
612
+ "action": {
613
+ "type": "ACTION",
614
+ "shape": [
615
+ 14
616
+ ]
617
+ }
618
+ },
619
+ "device": "cuda",
620
+ "use_amp": false,
621
+ "use_peft": false,
622
+ "push_to_hub": false,
623
+ "repo_id": null,
624
+ "private": null,
625
+ "tags": null,
626
+ "license": null,
627
+ "pretrained_path": null,
628
+ "horizon": 16,
629
+ "n_action_steps": 8,
630
+ "normalization_mapping": {
631
+ "VISUAL": "MEAN_STD",
632
+ "STATE": "MIN_MAX",
633
+ "ACTION": "MIN_MAX"
634
+ },
635
+ "drop_n_last_frames": 7,
636
+ "vision_backbone": "resnet18",
637
+ "crop_shape": [
638
+ 84,
639
+ 84
640
+ ],
641
+ "crop_is_random": true,
642
+ "pretrained_backbone_weights": null,
643
+ "use_group_norm": true,
644
+ "spatial_softmax_num_keypoints": 32,
645
+ "use_separate_rgb_encoder_per_camera": false,
646
+ "down_dims": [
647
+ 512,
648
+ 1024,
649
+ 2048
650
+ ],
651
+ "kernel_size": 5,
652
+ "n_groups": 8,
653
+ "diffusion_step_embed_dim": 128,
654
+ "use_film_scale_modulation": true,
655
+ "noise_scheduler_type": "DDPM",
656
+ "num_train_timesteps": 100,
657
+ "beta_schedule": "squaredcos_cap_v2",
658
+ "beta_start": 0.0001,
659
+ "beta_end": 0.02,
660
+ "prediction_type": "epsilon",
661
+ "clip_sample": true,
662
+ "clip_sample_range": 1.0,
663
+ "num_inference_steps": null,
664
+ "do_mask_loss_for_padding": false,
665
+ "optimizer_lr": 0.0001,
666
+ "optimizer_betas": [
667
+ 0.95,
668
+ 0.999
669
+ ],
670
+ "optimizer_eps": 1e-08,
671
+ "optimizer_weight_decay": 1e-06,
672
+ "scheduler_name": "cosine",
673
+ "scheduler_warmup_steps": 500
674
+ },
675
+ "output_dir": "/weka/helenw/outputs/diffusion_StackTwoBlocks",
676
+ "job_name": "diffusion_roboeval_v3_merged",
677
+ "resume": false,
678
+ "seed": 1000,
679
+ "num_workers": 2,
680
+ "batch_size": 256,
681
+ "steps": 5000,
682
+ "eval_freq": 20000,
683
+ "log_freq": 10,
684
+ "tolerance_s": 0.0001,
685
+ "save_checkpoint": true,
686
+ "save_freq": 1000,
687
+ "use_policy_training_preset": true,
688
+ "optimizer": {
689
+ "type": "adam",
690
+ "lr": 0.0001,
691
+ "weight_decay": 1e-06,
692
+ "grad_clip_norm": 10.0,
693
+ "betas": [
694
+ 0.95,
695
+ 0.999
696
+ ],
697
+ "eps": 1e-08
698
+ },
699
+ "scheduler": {
700
+ "type": "diffuser",
701
+ "num_warmup_steps": 500,
702
+ "name": "cosine"
703
+ },
704
+ "eval": {
705
+ "n_episodes": 50,
706
+ "batch_size": 50,
707
+ "use_async_envs": false
708
+ },
709
+ "wandb": {
710
+ "enable": true,
711
+ "disable_artifact": true,
712
+ "project": "lerobot",
713
+ "entity": null,
714
+ "notes": null,
715
+ "run_id": "8wzpes1k",
716
+ "mode": null
717
+ },
718
+ "peft": null,
719
+ "use_rabc": false,
720
+ "rabc_progress_path": null,
721
+ "rabc_kappa": 0.01,
722
+ "rabc_epsilon": 1e-06,
723
+ "rabc_head_mode": "sparse",
724
+ "rename_map": {},
725
+ "checkpoint_path": null
726
+ }