Upload 7 files

config.json

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+{
+    "type": "diffusion",
+    "n_obs_steps": 2,
+    "input_features": {
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+    "push_to_hub": true,
+    "repo_id": "jjr1007/diffusion_default_filtered_augmented",
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+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "horizon": 64,
+    "n_action_steps": 48,
+    "normalization_mapping": {
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+        "STATE": "MIN_MAX",
+        "ACTION": "MIN_MAX"
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+    "vision_backbone": "resnet18",
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+    "crop_is_random": true,
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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+    "spatial_softmax_num_keypoints": 32,
+    "use_separate_rgb_encoder_per_camera": true,
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+        1024,
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+    "n_groups": 8,
+    "diffusion_step_embed_dim": 128,
+    "use_film_scale_modulation": true,
+    "noise_scheduler_type": "DDPM",
+    "num_train_timesteps": 100,
+    "beta_schedule": "squaredcos_cap_v2",
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+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
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+        0.999
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+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 500
+}

model.safetensors

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policy_postprocessor.json

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+{
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+      "config": {
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+            "shape": [
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+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
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+      }
+    }
+  ]
+}

policy_postprocessor_step_0_unnormalizer_processor.safetensors

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policy_preprocessor.json

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+{
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+  "steps": [
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+      "registry_name": "rename_observations_processor",
+      "config": {
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+      "config": {}
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+    }
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+}

policy_preprocessor_step_3_normalizer_processor.safetensors

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train_config.json

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+{
+    "dataset": {
+        "repo_id": "jjr1007/may12_final_cut_all_filtered",
+        "root": "/ephemeral/cache/huggingface/lerobot/jjr1007/may12_final_cut_all_filtered",
+        "episodes": null,
+        "image_transforms": {
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+            "tfs": {
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+                            0.8,
+                            1.2
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+                            0.7,
+                            1.3
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+                    "type": "RandomRotation",
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+                            3
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+                    "type": "RandomAffine",
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+                        "translate": [
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+        "video_backend": "torchcodec",
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+        "streaming": false
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+        "repo_id": "jjr1007/diffusion_default_filtered_augmented",
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+        "horizon": 64,
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+        "compile_model": false,
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+    "output_dir": "outputs/diffusion_default_filtered_augmented",
+    "job_name": "diffusion",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 4,
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+    "save_checkpoint": true,
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+    "use_policy_training_preset": true,
+    "optimizer": {
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+        "batch_size": 8,
+        "use_async_envs": true
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+    "wandb": {
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+        "disable_artifact": false,
+        "project": "multitask-dit-experiments",
+        "entity": null,
+        "notes": null,
+        "run_id": "diffusion_ddpm_h64a48_filtered_base_augmented",
+        "mode": null,
+        "add_tags": true
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+    "sample_weighting": null,
+    "rename_map": {},
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+}