Safetensors
GSR / GSR-PI05-LIBERO /config.json
QiuGuangwww's picture
Upload folder using huggingface_hub
a224ba1 verified
Raw
History Blame Contribute Delete
5.02 kB
{
"type": "pi05",
"n_obs_steps": 1,
"input_features": {
"observation.images.image": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.images.image2": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.state": {
"type": "STATE",
"shape": [
8
]
},
"observation.images.empty_camera_0": {
"type": "VISUAL",
"shape": [
3,
224,
224
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
7
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": false,
"repo_id": "GSR/PI05-LIBERO",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"paligemma_variant": "gemma_2b",
"action_expert_variant": "gemma_300m",
"dtype": "bfloat16",
"chunk_size": 50,
"n_action_steps": 50,
"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": [
"actions"
],
"rtc_config": null,
"image_resolution": [
224,
224
],
"empty_cameras": 1,
"tokenizer_max_length": 64,
"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,
"pi05_t5_bottleneck": true,
"pi05_neutral_prompt": "perform the task",
"pi05_t5_model": "google-t5/t5-large",
"pi05_t5_max_length": 16,
"pi05_paligemma_tokenizer": "google/paligemma-3b-pt-224",
"pi05_reinit_binding_after_load": true,
"pi05_t5_cross_attention": false,
"pi05_t5_cross_attention_gate_init": 0.05,
"pi05_t5_cross_attention_strict_vla_adapter": false,
"pi05_ground_t5_in_native_slots": true,
"pi05_ground_t5_preserve_native_prompt": true,
"pi05_native_grounder_num_heads": 8,
"pi05_native_grounder_gate_init": 1.0,
"pi05_t5_eval_mode": "normal",
"pi05_wrong_t5_text": "turn on the stove",
"pi05_t5_preserve_native_prompt": false,
"pi05_motor_preserving_distillation": false,
"pi05_motor_distillation_weight": 1.0,
"pi05_motor_preserving_curriculum": false,
"pi05_motor_curriculum_start_step": 0,
"pi05_motor_curriculum_end_step": 3500,
"pi05_motor_curriculum_flow_weight": 1.0,
"pi05_motor_rollout_distillation_weight": 1.0,
"pi05_motor_rollout_distillation_every": 1,
"pi05_motor_rollout_distillation_batch_size": 1,
"pi05_interface_matching": false,
"pi05_interface_loss_weight": 1.0,
"pi05_interface_velocity_weight": 0.0,
"pi05_native_soft_prefix": false,
"pi05_native_soft_prefix_tokens": 32,
"pi05_native_soft_prefix_layers": 2,
"pi05_native_soft_prefix_heads": 16,
"pi05_native_soft_prefix_mode": "append",
"pi05_native_soft_prefix_start_index": 3,
"pi05_native_soft_prefix_matching": false,
"pi05_native_soft_prefix_interface_weight": 1.0,
"pi05_native_soft_prefix_velocity_weight": 0.1,
"pi05_native_soft_prefix_flow_weight": 0.0,
"pi05_native_soft_prefix_embedding_weight": 0.0,
"pi05_train_paraphrase_distillation": false,
"pi05_train_paraphrases": "",
"pi05_eval_paraphrases": "",
"pi05_train_canonical_probability": 0.25,
"pi05_translator_consistency_weight": 0.0,
"pi05_native_soft_prefix_inference_blend": 1.0,
"pi05_native_soft_prefix_embedding_blend": 1.0,
"pi05_native_soft_prefix_training_blend_min": 1.0,
"pi05_native_soft_prefix_training_blend_max": 1.0,
"pi05_native_soft_prefix_geometry_preserving": false,
"pi05_native_soft_prefix_sentence_bottleneck": false,
"pi05_native_soft_prefix_zero_init": false,
"pi05_native_kv_transplant": false,
"pi05_native_kv_matching": false,
"pi05_native_kv_neutral_conditioning": false,
"pi05_native_kv_visual_conditioning": false,
"pi05_native_kv_visual_summary_tokens": 8,
"pi05_native_kv_resampler_dim": 512,
"pi05_native_kv_resampler_layers": 2,
"pi05_native_kv_resampler_heads": 8,
"pi05_native_kv_weight": 1.0,
"pi05_native_kv_interface_weight": 0.1,
"pi05_native_kv_velocity_weight": 0.1,
"optimizer_lr": 0.0001,
"optimizer_betas": [
0.9,
0.95
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 0.01,
"optimizer_grad_clip_norm": 1.0,
"scheduler_warmup_steps": 125,
"scheduler_decay_steps": 6250,
"scheduler_decay_lr": 5e-06,
"gsr_enable": true,
"gsr_preserve_native_language": true,
"gsr_t5_model": "google-t5/t5-large",
"gsr_t5_max_length": 16,
"gsr_paligemma_tokenizer": "google/paligemma-3b-pt-224",
"gsr_reinitialize_action_binding": true,
"gsr_grounder_num_heads": 8,
"gsr_grounder_gate_init": 1.0
}