Upload ddpm_20/checkpoints/40000/config.json with huggingface_hub
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ddpm_20/checkpoints/40000/config.json
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{
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"n_obs_steps": 2,
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"horizon": 100,
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"n_action_steps": 50,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MIN_MAX",
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"ACTION": "MIN_MAX"
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},
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"drop_n_last_frames": 0,
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"observation_encoder": {
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"vision": {
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"type": "clip",
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"use_separate_encoder_per_camera": true,
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"lr_multiplier": 0.1,
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"resize_shape": null,
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"crop_shape": [
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224,
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224
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],
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"crop_is_random": false,
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"backbone": "vit_base_patch16_clip_224.openai"
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},
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"text": {
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"type": "clip",
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"model": "openai/clip-vit-base-patch16"
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}
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},
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"transformer": {
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"hidden_dim": 512,
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"num_layers": 6,
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"num_heads": 8,
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"dropout": 0.1,
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"use_positional_encoding": true,
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"diffusion_step_embed_dim": 256,
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"use_rope": false,
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"rope_base": 10000.0
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},
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"objective": {
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"type": "diffusion",
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"objective_name": "diffusion",
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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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"beta_start": 0.0001,
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"beta_end": 0.02,
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"prediction_type": "epsilon",
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"clip_sample": true,
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"clip_sample_range": 1.0,
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"num_inference_steps": 20
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},
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"do_mask_loss_for_padding": true,
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"optimizer_lr": 2e-05,
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"optimizer_betas": [
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0.95,
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0.999
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 0.0,
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"input_features": {
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"observation.images.front": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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"observation.images.wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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17
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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17
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]
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}
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},
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"device": "cuda"
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}
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