| { |
| "type": "pi05", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.images.cam_zed_left": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.cam_zed_right": { |
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| 480, |
| 640 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 48 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 46 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": "H2Ozone/new_full_data-pi05", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "pretrained_revision": null, |
| "paligemma_variant": "gemma_2b", |
| "action_expert_variant": "gemma_300m", |
| "dtype": "float32", |
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| "n_action_steps": 50, |
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| "max_action_dim": 46, |
| "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": [ |
| "left_wrist_pos_x", |
| "left_wrist_pos_y", |
| "left_wrist_pos_z", |
| "left_wrist_quat_x", |
| "left_wrist_quat_y", |
| "left_wrist_quat_z", |
| "left_wrist_quat_w", |
| "right_wrist_pos_x", |
| "right_wrist_pos_y", |
| "right_wrist_pos_z", |
| "right_wrist_quat_x", |
| "right_wrist_quat_y", |
| "right_wrist_quat_z", |
| "right_wrist_quat_w", |
| "left_forearm_quat_x", |
| "left_forearm_quat_y", |
| "left_forearm_quat_z", |
| "left_forearm_quat_w", |
| "right_forearm_quat_x", |
| "right_forearm_quat_y", |
| "right_forearm_quat_z", |
| "right_forearm_quat_w", |
| "neck_quat_x", |
| "neck_quat_y", |
| "neck_quat_z", |
| "neck_quat_w", |
| "left_ability_hand_index_q1", |
| "left_ability_hand_index_q2", |
| "left_ability_hand_middle_q1", |
| "left_ability_hand_middle_q2", |
| "left_ability_hand_ring_q1", |
| "left_ability_hand_ring_q2", |
| "left_ability_hand_pinky_q1", |
| "left_ability_hand_pinky_q2", |
| "left_ability_hand_thumb_q1", |
| "left_ability_hand_thumb_q2", |
| "right_ability_hand_index_q1", |
| "right_ability_hand_index_q2", |
| "right_ability_hand_middle_q1", |
| "right_ability_hand_middle_q2", |
| "right_ability_hand_ring_q1", |
| "right_ability_hand_ring_q2", |
| "right_ability_hand_pinky_q1", |
| "right_ability_hand_pinky_q2", |
| "right_ability_hand_thumb_q1", |
| "right_ability_hand_thumb_q2" |
| ], |
| "rtc_config": null, |
| "image_resolution": [ |
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| 224 |
| ], |
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| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "QUANTILES", |
| "ACTION": "QUANTILES" |
| }, |
| "gradient_checkpointing": false, |
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| "optimizer_lr": 2.5e-05, |
| "optimizer_betas": [ |
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| ], |
| "optimizer_eps": 1e-08, |
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| "scheduler_decay_lr": 2.5e-06 |
| } |
