| { |
| "type": "pi0", |
| "n_obs_steps": 1, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| }, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 14 |
| ] |
| }, |
| "observation.images.color.high": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.color.wrist_right": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.color.wrist_left": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 14 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "gradient_accumulation_steps": 2, |
| "chunk_size": 50, |
| "n_action_steps": 50, |
| "visual_prompt": false, |
| "use_both_origin": false, |
| "zero_init": false, |
| "coordinate_text_prod": false, |
| "coordinate_posEmbed_prod": false, |
| "posEmbed_to_preTrained": false, |
| "num_obs_layers": 30, |
| "last_obs_layers": false, |
| "add_posEmbed": false, |
| "not_used_coord": false, |
| "use_depth": false, |
| "depth_model_type": "frozen_siglip", |
| "use_track": true, |
| "use_detect_object": false, |
| "track_mask": false, |
| "use_slot_att": "none", |
| "future_obj": "all", |
| "original_pi0": false, |
| "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": 48, |
| "proj_width": 1024, |
| "num_steps": 10, |
| "use_cache": true, |
| "attention_implementation": "eager", |
| "freeze_vision_encoder": true, |
| "train_expert_only": false, |
| "train_state_proj": true, |
| "optimizer_lr": 2.5e-06, |
| "optimizer_betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 1e-10, |
| "scheduler_warmup_steps": 1000, |
| "scheduler_decay_steps": 240000, |
| "scheduler_decay_lr": 2.5e-06 |
| } |
