| { |
| "type": "pi05", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 7 |
| ] |
| }, |
| "observation.images.top_left": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.top_right": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": "AndreGaio/pi05_packing_ee_absolute", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": "outputs/train/pi05_packing_ee_absolute/checkpoints/002000/pretrained_model", |
| "pretrained_revision": null, |
| "paligemma_variant": "gemma_2b", |
| "action_expert_variant": "gemma_300m", |
| "dtype": "bfloat16", |
| "chunk_size": 50, |
| "n_action_steps": 10, |
| "use_visual_memory": false, |
| "use_proprioceptive_memory": false, |
| "memory_frames": 6, |
| "memory_stride": 30, |
| "memory_temporal_attention_every": 4, |
| "max_state_dim": 32, |
| "max_action_dim": 32, |
| "num_inference_steps": 10, |
| "time_sampling_beta_alpha": 1.5, |
| "time_sampling_beta_beta": 1.0, |
| "time_sampling_scale": 0.999, |
| "time_sampling_offset": 0.001, |
| "min_period": 0.004, |
| "max_period": 4.0, |
| "use_relative_actions": false, |
| "relative_exclude_joints": [ |
| "gripper" |
| ], |
| "action_feature_names": [ |
| "ee.x", |
| "ee.y", |
| "ee.z", |
| "ee.wx", |
| "ee.wy", |
| "ee.wz", |
| "ee.gripper_pos" |
| ], |
| "rtc_config": null, |
| "rtc_training_max_delay": 0, |
| "image_resolution": [ |
| 224, |
| 224 |
| ], |
| "empty_cameras": 0, |
| "tokenizer_max_length": 200, |
| "normalization_mapping": { |
| "ACTION": "MEAN_STD", |
| "STATE": "MEAN_STD", |
| "VISUAL": "IDENTITY" |
| }, |
| "gradient_checkpointing": true, |
| "compile_model": false, |
| "compile_mode": "max-autotune", |
| "freeze_vision_encoder": true, |
| "train_expert_only": true, |
| "optimizer_lr": 2.5e-05, |
| "optimizer_betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 0.01, |
| "optimizer_grad_clip_norm": 1.0, |
| "scheduler_warmup_steps": 1000, |
| "scheduler_decay_steps": 30000, |
| "scheduler_decay_lr": 2.5e-06 |
| } |
