Adding config.json
Browse files- config.json +62 -0
config.json
ADDED
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{
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"beta_end": 0.02,
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"beta_schedule": "squaredcos_cap_v2",
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"beta_start": 0.0001,
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"causal_attn": true,
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"clip_sample": true,
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"clip_sample_range": 1.0,
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"crop_is_random": true,
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"crop_shape": [
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84,
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84
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],
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"diffusion_step_embed_dim": 256,
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"do_mask_loss_for_padding": 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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"horizon": 10,
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"input_normalization_modes": {
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"observation.image": "mean_std",
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"observation.state": "min_max"
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},
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"input_shapes": {
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"observation.image": [
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3,
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96,
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96
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],
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"observation.state": [
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2
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]
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},
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"kernel_size": 5,
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"n_action_steps": 8,
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"n_cond_layers": 0,
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"n_groups": 8,
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"n_head": 4,
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"n_layer": 8,
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"n_obs_steps": 2,
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"noise_scheduler_type": "DDPM",
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"num_inference_steps": null,
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"num_train_timesteps": 100,
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"output_normalization_modes": {
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"action": "min_max"
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},
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"output_shapes": {
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"action": [
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2
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]
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},
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"p_drop_attn": 0.3,
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"p_drop_emb": 0.0,
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"prediction_type": "epsilon",
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"pretrained_backbone_weights": null,
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"spatial_softmax_num_keypoints": 32,
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"use_film_scale_modulation": true,
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"use_group_norm": true,
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"use_transformer": true,
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"vision_backbone": "resnet18"
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}
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