Addimg policy config
Browse files- config.json +91 -0
config.json
ADDED
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{
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"type": "pi05",
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"n_obs_steps": 1,
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "MIN_MAX",
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"ACTION": "MEAN_STD"
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},
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"input_features": {
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"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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"camera0": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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]
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},
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"camera1": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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]
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},
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"camera2": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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]
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}
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},
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"output_features": {
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"actions": {
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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": null,
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"use_amp": false,
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"pretrained_path": "outputs/train/2026-03-21/04-00-37_pi05/checkpoints/0031000",
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"cloud_vlm_latency_mean": 0.0,
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"cloud_vlm_latency_std": 0.0,
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"cloud_vlm_latency_lower": 0.0,
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"cloud_vlm_latency_upper": 0.0,
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"action_decoder_latency_mean": 0.0,
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"action_decoder_latency_std": 0.0,
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"action_decoder_latency_lower": 0.0,
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"action_decoder_latency_upper": 0.0,
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"chunk_size": 20,
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"n_action_steps": 20,
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"max_state_dim": 32,
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"max_action_dim": 32,
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"predict_response": false,
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"resize_imgs_with_padding": [
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224,
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224
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],
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"empty_cameras": 0,
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"prompt_max_length": 256,
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"response_max_length": 52,
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"discrete_action_max_length": 75,
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"proj_width": 1024,
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"dropout": 0.1,
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"num_steps": 10,
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"max_delay": 0,
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"init_strategy": "no_init",
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"attention_implementation": "eager",
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"freeze_vision_encoder": false,
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"train_expert_only": false,
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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": 1e-10,
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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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}
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