Upload folder using huggingface_hub

GSR-PI05-LIBERO/config.json

@@ -0,0 +1,172 @@
+{
+  "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
+}

GSR-PI05-LIBERO/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:733083a728f54ed1d9e2d7bf26380b12ede01e9a42b53305dd0a0e2626cf8002
+size 10242786612

GSR-PI05-LIBERO/policy_postprocessor.json

@@ -0,0 +1,38 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              7
+            ]
+          }
+        },
+        "norm_map": {
+          "ACTION": "MEAN_STD",
+          "STATE": "MEAN_STD",
+          "VISUAL": "IDENTITY"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "absolute_actions_processor",
+      "config": {
+        "enabled": false
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

GSR-PI05-LIBERO/policy_postprocessor_step_0_unnormalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a002c0df7f79c5b169c5a899ad151d4ea1bed246c7d82bd93ed1556558d517a9
+size 7668

GSR-PI05-LIBERO/policy_preprocessor.json

@@ -0,0 +1,125 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "delta_actions_processor",
+      "config": {
+        "enabled": false,
+        "exclude_joints": [
+          "gripper"
+        ],
+        "action_names": [
+          "actions"
+        ]
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "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
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              7
+            ]
+          }
+        },
+        "norm_map": {
+          "ACTION": "MEAN_STD",
+          "STATE": "MEAN_STD",
+          "VISUAL": "IDENTITY"
+        }
+      },
+      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "pi05_prepare_state_tokenizer_processor_step",
+      "config": {
+        "max_state_dim": 32,
+        "task_key": "task",
+        "neutralize_task": false,
+        "preserve_t5_task": true,
+        "neutral_prompt": "perform the task",
+        "t5_task_key": "pi05_t5_task",
+        "t5_eval_mode": "normal",
+        "wrong_t5_text": "turn on the stove",
+        "preserve_canonical_t5_task": false,
+        "canonical_t5_task_key": "pi05_canonical_t5_task",
+        "preserve_teacher_prompt": false,
+        "teacher_task_key": "pi05_teacher_task"
+      }
+    },
+    {
+      "registry_name": "pi05_t5_tokenizer_processor_step",
+      "config": {
+        "tokenizer_name": "google-t5/t5-large",
+        "max_length": 16,
+        "task_key": "pi05_t5_task",
+        "output_tokens_key": "observation.pi05_t5.tokens",
+        "output_attention_mask_key": "observation.pi05_t5.attention_mask",
+        "padding_side": "right",
+        "padding": "max_length",
+        "truncation": true
+      }
+    },
+    {
+      "registry_name": "tokenizer_processor",
+      "config": {
+        "max_length": 64,
+        "task_key": "task",
+        "padding_side": "right",
+        "padding": "max_length",
+        "truncation": true,
+        "tokenizer_name": "google/paligemma-3b-pt-224"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}

GSR-PI05-LIBERO/policy_preprocessor_step_3_normalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a002c0df7f79c5b169c5a899ad151d4ea1bed246c7d82bd93ed1556558d517a9
+size 7668

GSR-PI05-LIBERO/train_config.json

@@ -0,0 +1,832 @@
+{
+  "dataset": {
+    "repo_id": "HuggingFaceVLA/libero",
+    "root": null,
+    "episodes": [
+      379,
+      380,
+      381,
+      382,
+      383,
+      384,
+      385,
+      386,
+      387,
+      388,
+      389,
+      390,
+      391,
+      392,
+      393,
+      394,
+      395,
+      396,
+      397,
+      398,
+      399,
+      400,
+      401,
+      402,
+      403,
+      404,
+      405,
+      406,
+      407,
+      408,
+      409,
+      410,
+      411,
+      412,
+      413,
+      414,
+      415,
+      416,
+      417,
+      418,
+      419,
+      420,
+      421,
+      422,
+      423,
+      424,
+      425,
+      426,
+      427,
+      428,
+      429,
+      430,
+      431,
+      432,
+      433,
+      434,
+      435,
+      436,
+      437,
+      438,
+      439,
+      440,
+      441,
+      442,
+      443,
+      444,
+      445,
+      446,
+      447,
+      448,
+      449,
+      450,
+      451,
+      452,
+      453,
+      454,
+      455,
+      456,
+      457,
+      458,
+      459,
+      460,
+      461,
+      462,
+      463,
+      464,
+      465,
+      466,
+      467,
+      468,
+      469,
+      470,
+      471,
+      472,
+      473,
+      474,
+      475,
+      476,
+      477,
+      478,
+      479,
+      480,
+      481,
+      482,
+      483,
+      484,
+      485,
+      486,
+      487,
+      488,
+      489,
+      490,
+      491,
+      492,
+      493,
+      494,
+      495,
+      496,
+      497,
+      498,
+      499,
+      500,
+      501,
+      502,
+      503,
+      504,
+      505,
+      506,
+      507,
+      508,
+      509,
+      510,
+      511,
+      512,
+      513,
+      514,
+      515,
+      516,
+      517,
+      518,
+      519,
+      520,
+      521,
+      522,
+      523,
+      524,
+      525,
+      526,
+      527,
+      528,
+      529,
+      530,
+      531,
+      532,
+      533,
+      534,
+      535,
+      536,
+      537,
+      538,
+      539,
+      540,
+      541,
+      542,
+      543,
+      544,
+      545,
+      546,
+      547,
+      548,
+      549,
+      550,
+      551,
+      552,
+      553,
+      554,
+      555,
+      556,
+      557,
+      558,
+      559,
+      560,
+      561,
+      562,
+      563,
+      564,
+      565,
+      566,
+      567,
+      568,
+      569,
+      570,
+      571,
+      572,
+      573,
+      574,
+      575,
+      576,
+      577,
+      578,
+      579,
+      580,
+      581,
+      582,
+      583,
+      584,
+      585,
+      586,
+      587,
+      588,
+      589,
+      590,
+      591,
+      592,
+      593,
+      594,
+      595,
+      596,
+      597,
+      598,
+      599,
+      600,
+      601,
+      602,
+      603,
+      604,
+      605,
+      606,
+      607,
+      608,
+      609,
+      610,
+      611,
+      612,
+      613,
+      614,
+      615,
+      616,
+      617,
+      618,
+      619,
+      620,
+      621,
+      622,
+      623,
+      624,
+      625,
+      626,
+      627,
+      628,
+      629,
+      630,
+      631,
+      632,
+      633,
+      634,
+      635,
+      636,
+      637,
+      638,
+      639,
+      640,
+      641,
+      642,
+      643,
+      644,
+      645,
+      646,
+      647,
+      648,
+      649,
+      650,
+      651,
+      652,
+      653,
+      654,
+      655,
+      656,
+      657,
+      658,
+      659,
+      660,
+      661,
+      662,
+      663,
+      664,
+      665,
+      666,
+      667,
+      668,
+      669,
+      670,
+      671,
+      672,
+      673,
+      674,
+      675,
+      676,
+      677,
+      678,
+      679,
+      680,
+      681,
+      682,
+      683,
+      684,
+      685,
+      686,
+      687,
+      688,
+      689,
+      690,
+      691,
+      692,
+      693,
+      694,
+      695,
+      696,
+      697,
+      698,
+      699,
+      700,
+      701,
+      702,
+      703,
+      704,
+      705,
+      706,
+      707,
+      708,
+      709,
+      710,
+      711,
+      712,
+      713,
+      714,
+      715,
+      716,
+      717,
+      718,
+      719,
+      720,
+      721,
+      722,
+      723,
+      724,
+      725,
+      726,
+      727,
+      728,
+      729,
+      730,
+      731,
+      732,
+      733,
+      734,
+      735,
+      736,
+      737,
+      738,
+      739,
+      740,
+      741,
+      742,
+      743,
+      744,
+      745,
+      746,
+      747,
+      748,
+      749,
+      750,
+      751,
+      752,
+      753,
+      754,
+      755,
+      756,
+      757,
+      758,
+      759,
+      760,
+      761,
+      762,
+      763,
+      764,
+      765,
+      766,
+      767,
+      768,
+      769,
+      770,
+      771,
+      772,
+      773,
+      774,
+      775,
+      776,
+      777,
+      778,
+      779,
+      780,
+      781,
+      782,
+      783,
+      784,
+      785,
+      786,
+      787,
+      788,
+      789,
+      790,
+      791,
+      792,
+      793,
+      794,
+      795,
+      796,
+      797,
+      798,
+      799,
+      800,
+      801,
+      802,
+      803,
+      804,
+      805,
+      806
+    ],
+    "image_transforms": {
+      "enable": false,
+      "max_num_transforms": 3,
+      "random_order": false,
+      "tfs": {
+        "brightness": {
+          "weight": 1.0,
+          "type": "ColorJitter",
+          "kwargs": {
+            "brightness": [
+              0.8,
+              1.2
+            ]
+          }
+        },
+        "contrast": {
+          "weight": 1.0,
+          "type": "ColorJitter",
+          "kwargs": {
+            "contrast": [
+              0.8,
+              1.2
+            ]
+          }
+        },
+        "saturation": {
+          "weight": 1.0,
+          "type": "ColorJitter",
+          "kwargs": {
+            "saturation": [
+              0.5,
+              1.5
+            ]
+          }
+        },
+        "hue": {
+          "weight": 1.0,
+          "type": "ColorJitter",
+          "kwargs": {
+            "hue": [
+              -0.05,
+              0.05
+            ]
+          }
+        },
+        "sharpness": {
+          "weight": 1.0,
+          "type": "SharpnessJitter",
+          "kwargs": {
+            "sharpness": [
+              0.5,
+              1.5
+            ]
+          }
+        },
+        "affine": {
+          "weight": 1.0,
+          "type": "RandomAffine",
+          "kwargs": {
+            "degrees": [
+              -5.0,
+              5.0
+            ],
+            "translate": [
+              0.05,
+              0.05
+            ]
+          }
+        }
+      }
+    },
+    "revision": null,
+    "use_imagenet_stats": true,
+    "video_backend": "pyav",
+    "return_uint8": false,
+    "streaming": false
+  },
+  "env": {
+    "type": "libero",
+    "task": "libero_goal",
+    "fps": 30,
+    "features": {
+      "action": {
+        "type": "ACTION",
+        "shape": [
+          7
+        ]
+      },
+      "pixels/agentview_image": {
+        "type": "VISUAL",
+        "shape": [
+          360,
+          360,
+          3
+        ]
+      },
+      "pixels/robot0_eye_in_hand_image": {
+        "type": "VISUAL",
+        "shape": [
+          360,
+          360,
+          3
+        ]
+      },
+      "robot_state/eef/pos": {
+        "type": "STATE",
+        "shape": [
+          3
+        ]
+      },
+      "robot_state/eef/quat": {
+        "type": "STATE",
+        "shape": [
+          4
+        ]
+      },
+      "robot_state/eef/mat": {
+        "type": "STATE",
+        "shape": [
+          3,
+          3
+        ]
+      },
+      "robot_state/gripper/qpos": {
+        "type": "STATE",
+        "shape": [
+          2
+        ]
+      },
+      "robot_state/gripper/qvel": {
+        "type": "STATE",
+        "shape": [
+          2
+        ]
+      },
+      "robot_state/joints/pos": {
+        "type": "STATE",
+        "shape": [
+          7
+        ]
+      },
+      "robot_state/joints/vel": {
+        "type": "STATE",
+        "shape": [
+          7
+        ]
+      }
+    },
+    "features_map": {
+      "action": "action",
+      "robot_state/eef/pos": "observation.state.eef_pos",
+      "robot_state/eef/quat": "observation.state.eef_quat",
+      "robot_state/eef/mat": "observation.state.eef_mat",
+      "robot_state/gripper/qpos": "observation.state.gripper_qpos",
+      "robot_state/gripper/qvel": "observation.state.gripper_qvel",
+      "robot_state/joints/pos": "observation.state.joint_pos",
+      "robot_state/joints/vel": "observation.state.joint_vel",
+      "pixels/agentview_image": "observation.images.image",
+      "pixels/robot0_eye_in_hand_image": "observation.images.image2"
+    },
+    "max_parallel_tasks": 1,
+    "disable_env_checker": true,
+    "task_ids": null,
+    "episode_length": null,
+    "obs_type": "pixels_agent_pos",
+    "render_mode": "rgb_array",
+    "camera_name": "agentview_image,robot0_eye_in_hand_image",
+    "init_states": true,
+    "camera_name_mapping": null,
+    "observation_height": 360,
+    "observation_width": 360,
+    "is_libero_plus": false,
+    "control_mode": "relative"
+  },
+  "policy": {
+    "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": "lerobot/pi05_libero_finetuned_v044",
+    "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
+  },
+  "reward_model": null,
+  "output_dir": null,
+  "job_name": "pi05_gsr",
+  "resume": false,
+  "seed": 1000,
+  "cudnn_deterministic": false,
+  "num_workers": 6,
+  "batch_size": 32,
+  "gradient_accumulation_steps": 2,
+  "prefetch_factor": 4,
+  "persistent_workers": true,
+  "steps": 12500,
+  "eval_freq": -1,
+  "log_freq": 10,
+  "tolerance_s": 0.0001,
+  "save_checkpoint": true,
+  "save_freq": 1250,
+  "use_policy_training_preset": true,
+  "optimizer": {
+    "type": "adamw",
+    "lr": 0.0001,
+    "weight_decay": 0.01,
+    "grad_clip_norm": 1.0,
+    "betas": [
+      0.9,
+      0.95
+    ],
+    "eps": 1e-08
+  },
+  "scheduler": {
+    "type": "cosine_decay_with_warmup",
+    "num_warmup_steps": 125,
+    "num_decay_steps": 6250,
+    "peak_lr": 0.0001,
+    "decay_lr": 5e-06,
+    "scale_to_training_steps": true
+  },
+  "eval": {
+    "n_episodes": 50,
+    "max_episodes_rendered": 10,
+    "batch_size": 50,
+    "language_mode": "correct",
+    "language_text": "",
+    "use_async_envs": true
+  },
+  "wandb": {
+    "enable": false,
+    "disable_artifact": false,
+    "project": "lerobot",
+    "entity": null,
+    "notes": null,
+    "run_id": null,
+    "mode": null,
+    "add_tags": true
+  },
+  "peft": null,
+  "sample_weighting": null,
+  "rename_map": {},
+  "checkpoint_path": null
+}