Instructions to use masondx/decoupled_diffusion_aloha_sim_transfer_cube_shared_state-ema with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use masondx/decoupled_diffusion_aloha_sim_transfer_cube_shared_state-ema with LeRobot:
# No code snippets available yet for this library. # To use this model, check the repository files and the library's documentation. # Want to help? PRs adding snippets are welcome at: # https://github.com/huggingface/huggingface.js
- Notebooks
- Google Colab
- Kaggle
Download config.json from masondx/decoupled_diffusion_aloha_sim_transfer_cube_shared_state-ema: direct link, hf CLI and curl.
- Browser
- Download file 3.13 kB
-
https://huggingface.co/masondx/decoupled_diffusion_aloha_sim_transfer_cube_shared_state-ema/resolve/main/config.json
- Command line
-
hf download hf://masondx/decoupled_diffusion_aloha_sim_transfer_cube_shared_state-ema/config.json
-
curl -L -o config.json https://huggingface.co/masondx/decoupled_diffusion_aloha_sim_transfer_cube_shared_state-ema/resolve/main/config.json
3.13 kB
| { | |
| "type": "decoupled_bimanual_diffusion", | |
| "n_obs_steps": 2, | |
| "input_features": { | |
| "observation.images.top": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 14 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 14 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": true, | |
| "repo_id": "masondx/decoupled_diffusion_aloha_sim_transfer_cube_shared_state-ema", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": "outputs/train/decoupled_diffusion_aloha_transfer_cube_100k/checkpoints/020000/pretrained_model", | |
| "pretrained_revision": null, | |
| "horizon": 64, | |
| "n_action_steps": 32, | |
| "normalization_mapping": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MIN_MAX", | |
| "ACTION": "MIN_MAX" | |
| }, | |
| "drop_n_last_frames": 7, | |
| "vision_backbone": "resnet18", | |
| "resize_shape": null, | |
| "crop_ratio": 1.0, | |
| "crop_shape": null, | |
| "crop_is_random": true, | |
| "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", | |
| "use_group_norm": false, | |
| "spatial_softmax_num_keypoints": 32, | |
| "use_separate_rgb_encoder_per_camera": true, | |
| "down_dims": [ | |
| 512, | |
| 1024, | |
| 2048 | |
| ], | |
| "kernel_size": 5, | |
| "n_groups": 8, | |
| "diffusion_step_embed_dim": 128, | |
| "use_film_scale_modulation": true, | |
| "gradient_checkpointing": false, | |
| "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, | |
| "compile_model": false, | |
| "compile_mode": "reduce-overhead", | |
| "do_mask_loss_for_padding": false, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_betas": [ | |
| 0.95, | |
| 0.999 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 1e-06, | |
| "scheduler_name": "cosine", | |
| "scheduler_warmup_steps": 500, | |
| "arm1_state_dim": 7, | |
| "arm2_state_dim": 7, | |
| "arm1_action_dim": 7, | |
| "arm2_action_dim": 7, | |
| "state_routing": "shared", | |
| "shared_image_keys": [ | |
| "observation.images.top" | |
| ], | |
| "arm1_image_keys": [], | |
| "arm2_image_keys": [], | |
| "arm1_loss_weight": 1.0, | |
| "arm2_loss_weight": 1.0, | |
| "communication_mode": "none", | |
| "leader_arm": "arm1", | |
| "communication_horizon": null, | |
| "communication_message_dim": 128, | |
| "communication_encoder_hidden_dim": 256, | |
| "communication_adapter_hidden_dim": 256, | |
| "communication_scale": 1.0, | |
| "communication_dropout_prob": 0.0, | |
| "communication_noise_std": 0.0, | |
| "freeze_leader_branch": false, | |
| "freeze_follower_branch": false, | |
| "use_vit_encoder": false, | |
| "vit_embed_dim": 512, | |
| "vit_depth": 6, | |
| "vit_num_heads": 8, | |
| "vit_dropout": 0.1 | |
| } |