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Pick_Red_Cap

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Pick_Red_Cap
File size: 1,782 Bytes
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{
  "type": "pi0",
  "n_obs_steps": 1,
  "input_features": {
    "observation.state": {
      "type": "STATE",
      "shape": [
        6
      ]
    },
    "observation.images.front": {
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      "shape": [
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      ]
    },
    "observation.images.side": {
      "type": "VISUAL",
      "shape": [
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        640
      ]
    }
  },
  "output_features": {
    "action": {
      "type": "ACTION",
      "shape": [
        6
      ]
    }
  },
  "device": "cuda",
  "use_amp": false,
  "use_peft": false,
  "push_to_hub": true,
  "repo_id": "Hayden09/Pick_Red_Cap",
  "private": null,
  "tags": null,
  "license": null,
  "pretrained_path": "lerobot/pi0_base",
  "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,
  "rtc_config": null,
  "image_resolution": [
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  "empty_cameras": 0,
  "normalization_mapping": {
    "VISUAL": "IDENTITY",
    "STATE": "MEAN_STD",
    "ACTION": "MEAN_STD"
  },
  "gradient_checkpointing": true,
  "compile_model": false,
  "compile_mode": "default",
  "freeze_vision_encoder": false,
  "train_expert_only": false,
  "optimizer_lr": 0.0001,
  "optimizer_betas": [
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  ],
  "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,
  "tokenizer_max_length": 48
}