Upload policy
Browse files- config.json +80 -0
- model.safetensors +3 -0
config.json
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{
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"type": "diffusion",
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"n_obs_steps": 1,
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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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"input_features": {
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"observation.state": {
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"type": "STATE",
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"shape": [
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30
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]
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},
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"observation.environment_state": {
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"type": "ENV",
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"shape": [
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7
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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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16
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]
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},
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"action.ee_pose": {
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"type": "ACTION",
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"shape": [
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16
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]
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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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"horizon": 128,
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"n_action_steps": 50,
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"drop_n_last_frames": 7,
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"vision_backbone": "resnet18",
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"crop_shape": [
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84,
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84
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],
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"crop_is_random": true,
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"pretrained_backbone_weights": null,
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"use_group_norm": true,
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"spatial_softmax_num_keypoints": 32,
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"use_separate_rgb_encoder_per_camera": false,
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"down_dims": [
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512,
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1024,
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2048
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],
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"kernel_size": 5,
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"n_groups": 8,
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"diffusion_step_embed_dim": 128,
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"use_film_scale_modulation": true,
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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": null,
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"do_mask_loss_for_padding": false,
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"optimizer_lr": 0.0001,
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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": 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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model.safetensors
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:dfcfa42ad1c85c70ed1a3aa06222c70997502d50034b984acb9154873f321369
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size 995372800
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