| { |
| "type": "diffusion", |
| "n_obs_steps": 1, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MIN_MAX", |
| "ACTION": "MIN_MAX" |
| }, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 24 |
| ] |
| }, |
| "observation.images.rgb": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 240, |
| 424 |
| ] |
| }, |
| "observation.images.depth": { |
| "type": "VISUAL", |
| "shape": [ |
| 1, |
| 240, |
| 424 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 21 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "push_to_hub": true, |
| "repo_id": "kelvinzhaozg/diffusion_digit3a_hardware_box_pickup_rgbd", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "horizon": 64, |
| "n_action_steps": 32, |
| "per_feature_normalization_overrides": { |
| "observation.images.rgb": "IDENTITY", |
| "observation.images.depth": "MEAN_STD" |
| }, |
| "drop_n_last_frames": 7, |
| "vision_backbone": "resnet18", |
| "crop_shape": null, |
| "crop_is_random": true, |
| "pretrained_backbone_weights": null, |
| "use_group_norm": true, |
| "spatial_softmax_num_keypoints": 32, |
| "use_separate_rgb_encoder_per_camera": false, |
| "use_depth_as_channel": true, |
| "use_depth_only": false, |
| "rgbd_pretrained_backbone_weights": "r3m", |
| "norm_rgb": true, |
| "norm_depth": false, |
| "down_dims": [ |
| 512, |
| 1024, |
| 2048 |
| ], |
| "kernel_size": 5, |
| "n_groups": 8, |
| "diffusion_step_embed_dim": 128, |
| "use_film_scale_modulation": true, |
| "noise_scheduler_type": "DDIM", |
| "num_train_timesteps": 100, |
| "beta_schedule": "squaredcos_cap_v2", |
| "beta_start": 0.0001, |
| "beta_end": 0.02, |
| "prediction_type": "sample", |
| "clip_sample": true, |
| "clip_sample_range": 1.0, |
| "num_inference_steps": null, |
| "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 |
| } |
