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notmahi
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sample-tri-BimanualPutRedBellPepperInBin

Transformers
Safetensors
pytorch_model_hub_mixin
model_hub_mixin
Inference Endpoints
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notmahi commited on
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Files changed (4) hide show
  1. README.md +9 -0
  2. config.json +84 -0
  3. config.yaml +217 -0
  4. model.safetensors +3 -0
README.md ADDED
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+ ---
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+ tags:
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+ - pytorch_model_hub_mixin
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+ - model_hub_mixin
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+ ---
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+
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+ This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
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+ - Library: [More Information Needed]
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+ - Docs: [More Information Needed]
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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+ "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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+ 224,
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+ 224
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+ ],
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+ "diffusion_step_embed_dim": 128,
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+ "do_mask_loss_for_padding": false,
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+ "down_dims": [
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+ 256,
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+ 512,
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+ 1024
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+ ],
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+ "ema_inv_gamma": 1.0,
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+ "ema_max_alpha": 0.9999,
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+ "ema_min_alpha": 0.0,
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+ "ema_power": 0.75,
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+ "ema_update_after_step": 0,
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+ "horizon": 16,
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+ "input_normalization_modes": {
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+ "observation.images.scene_left_0": "mean_std",
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+ "observation.images.scene_right_0": "mean_std",
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+ "observation.images.wrist_left_plus": "mean_std",
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+ "observation.images.wrist_right_minus": "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.images.scene_left_0": [
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+ 3,
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+ 480,
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+ 640
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+ ],
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+ "observation.images.scene_right_0": [
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+ 3,
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+ 480,
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+ 640
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+ ],
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+ "observation.images.wrist_left_plus": [
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+ 3,
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+ 480,
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+ 640
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+ ],
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+ "observation.images.wrist_right_minus": [
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+ 3,
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+ 480,
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+ 640
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+ ],
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+ "observation.state": [
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+ 20
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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_groups": 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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+ 14
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+ ]
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+ },
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+ "prediction_type": "epsilon",
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+ "pretrained_backbone_weights": "IMAGENET1K_SWAG_LINEAR_V1",
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+ "resize_shape": [
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+ 256,
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+ 342
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+ ],
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+ "spatial_softmax_num_keypoints": 32,
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+ "use_ema": true,
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+ "use_film_scale_modulation": true,
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+ "use_group_norm": true,
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+ "use_spatial_softmax": false,
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+ "vision_backbone": "vit_b_16"
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+ }
config.yaml ADDED
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+ resume: false
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+ device: cuda
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+ use_amp: false
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+ seed: 100000
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+ dataset_repo_id: notmahi/tutorial-tri-BimanualPutRedBellPepperInBin
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+ video_backend: pyav
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+ training:
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+ offline_steps: 20000
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+ online_steps: 0
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+ online_steps_between_rollouts: 1
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+ online_sampling_ratio: 0.5
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+ online_env_seed: ???
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+ eval_freq: 0
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+ log_freq: 250
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+ save_checkpoint: true
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+ save_freq: 5000
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+ num_workers: 4
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+ batch_size: 32
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+ image_transforms:
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+ enable: false
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+ max_num_transforms: 3
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+ random_order: false
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+ brightness:
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+ weight: 1
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+ min_max:
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+ - 0.8
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+ - 1.2
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+ contrast:
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+ weight: 1
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+ min_max:
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+ - 0.8
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+ - 1.2
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+ saturation:
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+ weight: 1
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+ min_max:
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+ - 0.5
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+ - 1.5
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+ hue:
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+ weight: 1
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+ min_max:
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+ - -0.05
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+ - 0.05
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+ sharpness:
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+ weight: 1
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+ min_max:
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+ - 0.8
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+ - 1.2
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+ grad_clip_norm: 10
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+ lr: 0.0001
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+ lr_scheduler: cosine
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+ lr_warmup_steps: 500
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+ adam_betas:
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+ - 0.95
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+ - 0.999
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+ adam_eps: 1.0e-08
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+ adam_weight_decay: 1.0e-06
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+ delta_timestamps:
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+ observation.images.wrist_right_minus:
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+ - -0.03333333333333333
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+ - 0.0
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+ observation.images.wrist_left_plus:
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+ - -0.03333333333333333
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+ - 0.0
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+ observation.images.scene_right_0:
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+ - -0.03333333333333333
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+ - 0.0
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+ observation.images.scene_left_0:
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+ - -0.03333333333333333
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+ - 0.0
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+ observation.state:
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+ - -0.03333333333333333
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+ - 0.0
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+ action:
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+ - -0.03333333333333333
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+ - 0.0
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+ - 0.03333333333333333
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+ - 0.06666666666666667
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+ - 0.1
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+ - 0.13333333333333333
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+ - 0.16666666666666666
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+ - 0.2
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+ - 0.23333333333333334
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+ - 0.26666666666666666
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+ - 0.3
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+ - 0.3333333333333333
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+ - 0.36666666666666664
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+ - 0.4
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+ - 0.43333333333333335
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+ - 0.4666666666666667
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+ drop_n_last_frames: 7
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+ eval:
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+ n_episodes: 50
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+ batch_size: 50
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+ use_async_envs: false
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+ wandb:
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+ enable: false
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+ disable_artifact: false
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+ project: lerobot
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+ notes: ''
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+ fps: 30
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+ env:
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+ name: tri
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+ task: PutSpatulaInUtensilCrock-v0
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+ state_dim: 20
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+ action_dim: 14
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+ fps: ${fps}
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+ episode_length: 400
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+ gym:
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+ fps: ${fps}
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+ override_dataset_stats:
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+ observation.images.wrist_right_minus:
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+ mean:
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+ - - - 0.485
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+ - - - 0.456
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+ - - - 0.406
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+ std:
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+ - - - 0.229
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+ - - - 0.224
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+ - - - 0.225
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+ observation.images.wrist_left_plus:
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+ mean:
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+ - - - 0.485
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+ - - - 0.456
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+ - - - 0.406
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+ std:
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+ - - - 0.229
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+ - - - 0.224
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+ - - - 0.225
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+ observation.images.scene_right_0:
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+ mean:
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+ - - - 0.485
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+ - - - 0.456
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+ - - - 0.406
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+ std:
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+ - - - 0.229
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+ - - - 0.224
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+ - - - 0.225
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+ observation.images.scene_left_0:
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+ mean:
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+ - - - 0.485
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+ - - - 0.456
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+ - - - 0.406
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+ std:
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+ - - - 0.229
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+ - - - 0.224
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+ - - - 0.225
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+ policy:
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+ name: diffusion
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+ n_obs_steps: 2
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+ horizon: 16
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+ n_action_steps: 8
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+ input_shapes:
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+ observation.images.wrist_right_minus:
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+ - 3
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+ - 480
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+ - 640
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+ observation.images.wrist_left_plus:
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+ - 3
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+ - 480
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+ - 640
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+ observation.images.scene_right_0:
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+ - 3
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+ - 480
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+ - 640
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+ observation.images.scene_left_0:
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+ - 3
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+ - 480
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+ - 640
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+ observation.state:
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+ - ${env.state_dim}
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+ output_shapes:
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+ action:
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+ - ${env.action_dim}
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+ input_normalization_modes:
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+ observation.images.wrist_right_minus: mean_std
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+ observation.images.wrist_left_plus: mean_std
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+ observation.images.scene_right_0: mean_std
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+ observation.images.scene_left_0: mean_std
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+ observation.state: min_max
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+ output_normalization_modes:
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+ action: min_max
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+ vision_backbone: vit_b_16
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+ pretrained_backbone_weights: IMAGENET1K_SWAG_LINEAR_V1
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+ resize_shape:
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+ - 256
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+ - 342
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+ crop_shape:
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+ - 224
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+ - 224
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+ crop_is_random: true
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+ use_spatial_softmax: false
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+ use_group_norm: true
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+ spatial_softmax_num_keypoints: 32
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+ down_dims:
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+ - 256
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+ - 512
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+ - 1024
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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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+ use_ema: true
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+ ema_update_after_step: 0
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+ ema_min_alpha: 0.0
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+ ema_max_alpha: 0.9999
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+ ema_inv_gamma: 1.0
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+ ema_power: 0.75
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+ do_mask_loss_for_padding: false
model.safetensors ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:1d5f0ba89c08511a9dc39d427ed15a1bd96fa6130f808af7f8c5bc2c419ee4d3
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+ size 1899724320