Robotics
LeRobot
Safetensors
diffusion
SieloRobotics commited on
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Files changed (2) hide show
  1. config.json +130 -0
  2. model.safetensors +3 -0
config.json ADDED
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+ {
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+ "observation.ee_state": {
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+ "type": "STATE",
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+ "observation.joints": {
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+ "type": "STATE",
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+ "action.ee_pose": {
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+ "type": "ACTION",
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+ }
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+ },
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+ "device": "cuda",
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+ "use_amp": false,
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+ "push_to_hub": true,
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+ "repo_id": "SieloRobotics/Diffusion_ee_chunk_bottle",
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+ "private": null,
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+ "tags": null,
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+ "license": null,
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+ "pretrained_path": null,
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+ "STATE": "MIN_MAX",
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+ "ACTION": "MIN_MAX"
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+ "crop_is_random": true,
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+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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+ "use_group_norm": false,
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+ "spatial_softmax_num_keypoints": 32,
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+ "use_film_scale_modulation": true,
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+ "gradient_checkpointing": false,
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+ "noise_scheduler_type": "DDPM",
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+ "num_train_timesteps": 100,
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+ "beta_schedule": "squaredcos_cap_v2",
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+ "optimizer_weight_decay": 1e-06,
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+ "scheduler_name": "cosine",
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+ "scheduler_warmup_steps": 500
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+ }
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