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decoupled_diffusion_aloha_sim_transfer_cube_shared_state

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decoupled_diffusion_aloha_sim_transfer_cube_shared_state
File size: 3,122 Bytes
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{
    "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",
    "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": [
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        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
}