| { |
| "type": "pi05_romoya", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 7 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 360, |
| 640 |
| ] |
| }, |
| "observation.images.top": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 360, |
| 640 |
| ] |
| }, |
| "observation.images.side": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 360, |
| 640 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": "PL2011/pi05_sjaj_gripper-box-plate-fdoor", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": "lerobot/pi05_base", |
| "paligemma_variant": "gemma_2b", |
| "action_expert_variant": "gemma_300m", |
| "dtype": "bfloat16", |
| "chunk_size": 60, |
| "n_action_steps": 1, |
| "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": [ |
| 224, |
| 224 |
| ], |
| "empty_cameras": 0, |
| "tokenizer_max_length": 200, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "QUANTILES", |
| "ACTION": "QUANTILES" |
| }, |
| "gradient_checkpointing": true, |
| "compile_model": true, |
| "compile_mode": "max-autotune", |
| "freeze_vision_encoder": false, |
| "train_expert_only": false, |
| "optimizer_lr": 2.5e-05, |
| "optimizer_betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 0.01, |
| "optimizer_grad_clip_norm": 1.0, |
| "scheduler_warmup_steps": 1000, |
| "scheduler_decay_steps": 40000, |
| "scheduler_decay_lr": 2.5e-06, |
| "raw_observation_state_feature_names": [ |
| "joint1.pos", |
| "joint2.pos", |
| "joint3.pos", |
| "joint4.pos", |
| "joint5.pos", |
| "joint6.pos", |
| "gripper.pos", |
| "gripper.force", |
| "DO_0", |
| "DO_1", |
| "joint1.effort", |
| "joint2.effort", |
| "joint3.effort", |
| "joint4.effort", |
| "joint5.effort", |
| "joint6.effort", |
| "joint1.vel", |
| "joint2.vel", |
| "joint3.vel", |
| "joint4.vel", |
| "joint5.vel", |
| "joint6.vel", |
| "joint1.acc", |
| "joint2.acc", |
| "joint3.acc", |
| "joint4.acc", |
| "joint5.acc", |
| "joint6.acc", |
| "tcp.x", |
| "tcp.y", |
| "tcp.z", |
| "tcp.rx", |
| "tcp.ry", |
| "tcp.rz", |
| "joint1.temp", |
| "joint2.temp", |
| "joint3.temp", |
| "joint4.temp", |
| "joint5.temp", |
| "joint6.temp", |
| "joint1.voltage", |
| "joint2.voltage", |
| "joint3.voltage", |
| "joint4.voltage", |
| "joint5.voltage", |
| "joint6.voltage", |
| "flange_voltage", |
| "flange.x", |
| "flange.y", |
| "flange.z", |
| "flange.rx", |
| "flange.ry", |
| "flange.rz", |
| "target_joint1.pos", |
| "target_joint2.pos", |
| "target_joint3.pos", |
| "target_joint4.pos", |
| "target_joint5.pos", |
| "target_joint6.pos", |
| "target_joint1.vel", |
| "target_joint2.vel", |
| "target_joint3.vel", |
| "target_joint4.vel", |
| "target_joint5.vel", |
| "target_joint6.vel", |
| "target_joint1.acc", |
| "target_joint2.acc", |
| "target_joint3.acc", |
| "target_joint4.acc", |
| "target_joint5.acc", |
| "target_joint6.acc", |
| "target_joint1.effort", |
| "target_joint2.effort", |
| "target_joint3.effort", |
| "target_joint4.effort", |
| "target_joint5.effort", |
| "target_joint6.effort", |
| "target_tcp.x", |
| "target_tcp.y", |
| "target_tcp.z", |
| "target_tcp.rx", |
| "target_tcp.ry", |
| "target_tcp.rz" |
| ], |
| "raw_action_feature_names": [ |
| "joint1.pos", |
| "joint2.pos", |
| "joint3.pos", |
| "joint4.pos", |
| "joint5.pos", |
| "joint6.pos", |
| "gripper.pos", |
| "gripper.force", |
| "DO_0", |
| "DO_1" |
| ], |
| "state_feature_names": [ |
| "joint1.pos", |
| "joint2.pos", |
| "joint3.pos", |
| "joint4.pos", |
| "joint5.pos", |
| "joint6.pos", |
| "gripper.pos" |
| ], |
| "action_feature_names": [ |
| "joint1.pos", |
| "joint2.pos", |
| "joint3.pos", |
| "joint4.pos", |
| "joint5.pos", |
| "joint6.pos", |
| "gripper.pos" |
| ], |
| "binary_state": [ |
| null, |
| null, |
| null, |
| null, |
| null, |
| null, |
| 90.0 |
| ], |
| "binary_action": [ |
| null, |
| null, |
| null, |
| null, |
| null, |
| null, |
| [ |
| 90.0, |
| 0.0, |
| 99.0 |
| ] |
| ], |
| "delta_action": [ |
| false, |
| false, |
| false, |
| false, |
| false, |
| false, |
| false |
| ] |
| } |
