| { | |
| "type": "pi05", | |
| "n_obs_steps": 1, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MIN_MAX", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "input_features": { | |
| "state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 32 | |
| ] | |
| }, | |
| "camera0": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ] | |
| }, | |
| "camera1": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "actions": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 32 | |
| ] | |
| } | |
| }, | |
| "device": null, | |
| "use_amp": false, | |
| "push_to_hub": true, | |
| "repo_id": null, | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "chunk_size": 10, | |
| "n_action_steps": 10, | |
| "max_state_dim": 32, | |
| "max_action_dim": 32, | |
| "resize_imgs_with_padding": [ | |
| 224, | |
| 224 | |
| ], | |
| "empty_cameras": 0, | |
| "adapt_to_pi_aloha": false, | |
| "use_delta_joint_actions_aloha": false, | |
| "tokenizer_max_length": 256, | |
| "discrete_action_max_length": 60, | |
| "proj_width": 1024, | |
| "dropout": 0.1, | |
| "num_steps": 10, | |
| "init_strategy": "no_init", | |
| "use_cache": true, | |
| "attention_implementation": "eager", | |
| "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": 1e-10, | |
| "scheduler_warmup_steps": 1000, | |
| "scheduler_decay_steps": 30000, | |
| "scheduler_decay_lr": 2.5e-06 | |
| } |