Upload flow matching DiT policy checkpoint
Browse files- config.json +93 -0
- model.safetensors +3 -0
config.json
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{
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"type": "flow_matching_dit",
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"n_obs_steps": 1,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MIN_MAX",
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"ACTION": "MIN_MAX"
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},
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"input_features": {
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"observation.images.base_image": {
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"type": "VISUAL",
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"shape": [
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3,
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240,
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424
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]
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},
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"observation.images.right_wrist_image": {
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"type": "VISUAL",
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"shape": [
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3,
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240,
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424
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]
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},
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"observation.images.left_wrist_image": {
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"type": "VISUAL",
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"shape": [
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3,
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240,
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424
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]
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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14
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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14
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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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"push_to_hub": false,
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"repo_id": "kelvinzhaozg/flow_matching_dit_arx_dual_carpet_separation",
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"private": null,
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"tags": null,
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"license": null,
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"horizon": 64,
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"n_action_steps": 32,
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"drop_n_last_frames": 7,
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"vision_backbone": "resnet18",
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"crop_shape": [
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224,
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224
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],
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"crop_is_random": true,
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"pretrained_backbone_weights": null,
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"use_group_norm": true,
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"spatial_softmax_num_keypoints": 32,
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"use_separate_rgb_encoder_per_camera": true,
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"hidden_size": 768,
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"num_layers": 12,
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"num_attention_heads": 12,
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"attention_dropout": 0.1,
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"patch_size": 2,
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"use_adaln_zero": true,
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"cross_attention_dim": 512,
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"add_cross_attention": true,
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"do_mask_loss_for_padding": false,
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"optimizer_lr": 0.0001,
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"optimizer_betas": [
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0.95,
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0.999
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 1e-06,
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"scheduler_name": "cosine",
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"scheduler_warmup_steps": 500,
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"flow_matching_type": "CondOT",
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"num_integration_steps": 50,
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"fm_time_embed_dim": 256,
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"fm_min_period": 0.004,
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"fm_max_period": 4.0,
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"ode_solver_method": "midpoint"
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}
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model.safetensors
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:4fa844f9c0528f0bf3480fd1c65f94667c7fb24b576583e5111fc99610874980
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size 889046856
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