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ddpm_200_v2/latest.ckpt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7accf6ffe00aa526a1329a3e4d18d3c82553d26b3abd541251a3fff0a0eea994
+size 698421758

ddpm_200_v2/policy_config.yaml

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+_target_: workspaces.train_bfn_workspace.TrainBFNWorkspace
+name: train_ddpm_pusht_xarm_200_v2
+task_name: pusht_xarm_200_v2
+exp_name: ddpm_top
+shape_meta:
+  obs:
+    camera_0:
+      shape:
+      - 3
+      - 224
+      - 224
+      type: rgb
+    robot_eef_pose:
+      shape:
+      - 2
+      type: low_dim
+  action:
+    shape:
+    - 9
+horizon: 8
+n_obs_steps: 2
+n_action_steps: 4
+n_latency_steps: 0
+dataset_obs_steps: 2
+past_action_visible: false
+obs_as_global_cond: true
+policy:
+  _target_: diffusion_policy.policy.diffusion_unet_hybrid_image_policy.DiffusionUnetHybridImagePolicy
+  shape_meta: ${shape_meta}
+  horizon: ${horizon}
+  n_action_steps: ${n_action_steps}
+  n_obs_steps: ${n_obs_steps}
+  noise_scheduler:
+    _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler
+    num_train_timesteps: 100
+    beta_start: 0.0001
+    beta_end: 0.02
+    beta_schedule: squaredcos_cap_v2
+    variance_type: fixed_small
+    clip_sample: true
+    prediction_type: epsilon
+  num_inference_steps: 100
+  obs_as_global_cond: ${obs_as_global_cond}
+  obs_encoder_group_norm: true
+  eval_fixed_crop: true
+  crop_shape:
+  - 216
+  - 216
+  diffusion_step_embed_dim: 128
+  down_dims:
+  - 256
+  - 512
+  - 1024
+  kernel_size: 5
+  n_groups: 8
+  cond_predict_scale: true
+task:
+  dataset:
+    _target_: dataset.pusht_xarm_dataset.PushTXArmDataset
+    zarr_path: data/pusht_xarm_200/replay.zarr
+    horizon: ${horizon}
+    pad_before: 1
+    pad_after: 3
+    n_obs_steps: ${n_obs_steps}
+    seed: 42
+    val_ratio: 0.1
+    cameras:
+    - camera_0
+    use_eef_pose: true
+    action_mode: onehot
+  env_runner: null
+ema:
+  _target_: diffusion_policy.model.diffusion.ema_model.EMAModel
+  update_after_step: 0
+  inv_gamma: 1.0
+  power: 0.75
+  min_value: 0.0
+  max_value: 0.9999
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: 0.0001
+  betas:
+  - 0.95
+  - 0.999
+  eps: 1.0e-08
+  weight_decay: 1.0e-06
+training:
+  device: cuda:0
+  seed: 42
+  debug: false
+  resume: false
+  lr_scheduler: cosine
+  lr_warmup_steps: 500
+  num_epochs: 200
+  gradient_accumulate_every: 1
+  use_ema: true
+  rollout_every: 50
+  checkpoint_every: 10
+  val_every: 1
+  sample_every: 5
+  max_train_steps: null
+  max_val_steps: null
+  tqdm_interval_sec: 1.0
+dataloader:
+  batch_size: 32
+  num_workers: 4
+  shuffle: true
+  pin_memory: true
+  persistent_workers: false
+val_dataloader:
+  batch_size: 32
+  num_workers: 2
+  shuffle: false
+  pin_memory: true
+  persistent_workers: false
+checkpoint:
+  topk:
+    monitor_key: val_loss
+    mode: min
+    k: 3
+    format_str: epoch={epoch:04d}-train_loss={train_loss:.4f}.ckpt
+  save_last_ckpt: true
+  save_last_snapshot: false
+logging:
+  project: pusht_xarm_200_ddpm
+  resume: true
+  mode: offline
+  name: ${now:%Y.%m.%d-%H.%M.%S}_${name}
+  tags:
+  - ddpm
+  - pusht_xarm
+  - onehot
+  - top
+  id: null
+  group: null
+multi_run:
+  run_dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}
+  wandb_name_base: ${now:%Y.%m.%d-%H.%M.%S}_${name}