diffusing-tiny-ddim / config.json
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{
"type": "multi_task_dit",
"n_obs_steps": 2,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
6
]
},
"observation.images.front": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
6
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": "gaspardthrl/diffusing-tiny-ddim",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"horizon": 16,
"n_action_steps": 12,
"objective": "diffusion",
"noise_scheduler_type": "DDIM",
"num_train_timesteps": 100,
"beta_schedule": "squaredcos_cap_v2",
"beta_start": 0.0001,
"beta_end": 0.02,
"prediction_type": "epsilon",
"clip_sample": true,
"clip_sample_range": 1.0,
"num_inference_steps": 10,
"sigma_min": 0.0,
"num_integration_steps": 100,
"integration_method": "euler",
"timestep_sampling_strategy": "beta",
"timestep_sampling_s": 0.999,
"timestep_sampling_alpha": 1.5,
"timestep_sampling_beta": 1.0,
"hidden_dim": 512,
"num_layers": 4,
"num_heads": 8,
"dropout": 0.1,
"use_positional_encoding": false,
"timestep_embed_dim": 256,
"use_rope": true,
"rope_base": 10000.0,
"vision_encoder_name": "openai/clip-vit-base-patch16",
"use_separate_rgb_encoder_per_camera": false,
"vision_encoder_lr_multiplier": 0.1,
"image_resize_shape": [
320,
240
],
"image_crop_shape": [
224,
224
],
"image_crop_is_random": true,
"text_encoder_name": "openai/clip-vit-base-patch16",
"tokenizer_max_length": 77,
"tokenizer_padding": "max_length",
"tokenizer_padding_side": "right",
"tokenizer_truncation": true,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MIN_MAX",
"ACTION": "MIN_MAX"
},
"optimizer_lr": 2e-05,
"optimizer_betas": [
0.95,
0.999
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 0.0,
"scheduler_name": "cosine",
"scheduler_warmup_steps": 0,
"do_mask_loss_for_padding": false,
"drop_n_last_frames": 3
}