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| "type": "diffusion", | |
| "n_obs_steps": 2, | |
| "normalization_mapping": { | |
| "VISUAL": "MEAN_STD", | |
| "STATE": "MIN_MAX", | |
| "ACTION": "MIN_MAX" | |
| }, | |
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| ] | |
| }, | |
| "observation.images.head": { | |
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| 640 | |
| ] | |
| }, | |
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| 640 | |
| ] | |
| }, | |
| "observation.images.right_wrist": { | |
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| 640 | |
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| } | |
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| ] | |
| } | |
| }, | |
| "device": "cuda", | |
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| "push_to_hub": true, | |
| "repo_id": "Vertax/diffusion_bi_arx5_pick_and_place_cube", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "horizon": 16, | |
| "n_action_steps": 8, | |
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| "vision_backbone": "resnet18", | |
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| "pretrained_backbone_weights": null, | |
| "use_group_norm": true, | |
| "spatial_softmax_num_keypoints": 32, | |
| "use_separate_rgb_encoder_per_camera": false, | |
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| "use_film_scale_modulation": true, | |
| "noise_scheduler_type": "DDPM", | |
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| "beta_schedule": "squaredcos_cap_v2", | |
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| "beta_end": 0.02, | |
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| "optimizer_weight_decay": 1e-06, | |
| "scheduler_name": "cosine", | |
| "scheduler_warmup_steps": 500 | |
| } |