Robotics
LeRobot
Safetensors
pistar06
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{
"type": "pistar06",
"n_obs_steps": 1,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
6
]
},
"observation.images.top": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"observation.images.wrist": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
6
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": "Dicomsky/value_human_inloop_grasp",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"vision_repo_id": "google/siglip-so400m-patch14-384",
"language_repo_id": "google/gemma-3-270m",
"vision_revision": null,
"language_revision": null,
"task_field": "task",
"camera_features": [],
"state_feature": "observation.state",
"include_state_in_prompt": true,
"max_state_dim": 32,
"state_discretization_bins": 256,
"target_key": "observation.value_target",
"loss_weight_key": "observation.value_loss_weight",
"task_index_feature": "task_index",
"tokenizer_max_length": 200,
"state_proj_dim": 512,
"fusion_hidden_dim": 512,
"fusion_num_layers": 2,
"fusion_num_heads": 8,
"num_bins": 201,
"bin_min": -1.0,
"bin_max": 0.0,
"dropout": 0.1,
"dtype": "bfloat16",
"freeze_vision_encoder": true,
"freeze_language_model": true,
"use_gradient_checkpointing": false,
"optimizer_lr": 5e-05,
"optimizer_weight_decay": 1e-05,
"optimizer_grad_clip_norm": 10.0,
"scheduler_warmup_steps": 500,
"scheduler_decay_steps": 8000,
"scheduler_decay_lr": 1e-06,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "QUANTILES",
"ACTION": "IDENTITY"
}
}