| paligemma_variant: gemma_2b |
| action_expert_variant: gemma_300m |
| dtype: bfloat16 |
| n_obs_steps: 1 |
| 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_random_input_noise: true |
| image_resolution: |
| - 224 |
| - 224 |
| empty_cameras: 0 |
| tokenizer_max_length: 200 |
| gradient_checkpointing: true |
| compile_mode: max-autotune |
| freeze_vision_encoder: false |
| train_expert_only: false |
| normalization_mode: QUANTILES |
| optimizer_lr: 2.5e-05 |
| optimizer_betas: |
| - 0.9 |
| - 0.95 |
| optimizer_eps: 1.0e-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 |
| dataset_stats: |
| observation.images.base_0_rgb: |
| name: observation.images.base_0_rgb |
| shape: |
| - 3 |
| - 224 |
| - 224 |
| type: VISUAL |
| mean: |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| std: |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| q01: |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| q99: |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| observation.images.left_wrist_0_rgb: |
| name: observation.images.left_wrist_0_rgb |
| shape: |
| - 3 |
| - 224 |
| - 224 |
| type: VISUAL |
| mean: |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| std: |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| q01: |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| q99: |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| observation.images.right_wrist_0_rgb: |
| name: observation.images.right_wrist_0_rgb |
| shape: |
| - 3 |
| - 224 |
| - 224 |
| type: VISUAL |
| mean: |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| std: |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| q01: |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| q99: |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| observation.state: |
| name: observation.state |
| shape: |
| - 32 |
| type: STATE |
| mean: |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| std: |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| q01: |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| q99: |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| action: |
| name: action |
| shape: |
| - 32 |
| type: ACTION |
| mean: |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| std: |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| q01: |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| - -1.0 |
| q99: |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
|
|
