Upload config.json with huggingface_hub
Browse files- config.json +82 -0
config.json
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{
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"type": "pi05",
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"n_obs_steps": 1,
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"input_features": {
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"observation.images.base_0_rgb": {
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"type": "VISUAL",
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"shape": [
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3,
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224,
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224
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]
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},
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"observation.images.left_wrist_0_rgb": {
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"type": "VISUAL",
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"shape": [
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3,
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224,
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224
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]
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},
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"observation.images.right_wrist_0_rgb": {
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"type": "VISUAL",
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"shape": [
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3,
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224,
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224
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]
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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32
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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32
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]
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}
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},
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"device": "mps",
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"use_amp": false,
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"push_to_hub": true,
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"repo_id": null,
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"private": null,
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"tags": null,
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"license": null,
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"paligemma_variant": "gemma_2b",
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"action_expert_variant": "gemma_300m",
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"dtype": "float32",
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"chunk_size": 50,
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"n_action_steps": 50,
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"max_action_dim": 32,
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"max_state_dim": 32,
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"num_inference_steps": 10,
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"time_sampling_beta_alpha": 1.5,
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"time_sampling_beta_beta": 1.0,
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"min_period": 0.004,
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"max_period": 4.0,
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"image_resolution": [
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224,
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224
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],
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"gradient_checkpointing": false,
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"compile_model": false,
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"compile_mode": "max-autotune",
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"optimizer_lr": 2.5e-05,
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"optimizer_betas": [
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0.9,
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0.95
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 0.01,
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"optimizer_grad_clip_norm": 1.0,
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"scheduler_warmup_steps": 1000,
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"scheduler_decay_steps": 30000,
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"scheduler_decay_lr": 2.5e-06,
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"tokenizer_max_length": 200
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}
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