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pi0_fast_high_level_custom_subtask

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pi0_fast_high_level_custom_subtask
File size: 2,365 Bytes
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{
    "type": "pi0_fast",
    "n_obs_steps": 1,
    "input_features": {
        "observation.images.image": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "observation.images.image2": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "observation.state": {
            "type": "STATE",
            "shape": [
                8
            ]
        },
        "observation.images.empty_camera_0": {
            "type": "VISUAL",
            "shape": [
                3,
                224,
                224
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                7
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "use_peft": true,
    "push_to_hub": true,
    "repo_id": "globcy/pi0_fast_high_level_custom_subtask",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": "/pfss/mlde/workspaces/mlde_wsp_Rohrbach/users/cb14syta/p05_base",
    "paligemma_variant": "gemma_2b",
    "dtype": "bfloat16",
    "max_state_dim": 32,
    "max_action_dim": 32,
    "max_action_tokens": 32,
    "hierarchical": true,
    "use_relative_actions": false,
    "relative_exclude_joints": [
        "gripper"
    ],
    "action_feature_names": [
        "actions"
    ],
    "rtc_config": null,
    "image_resolution": [
        224,
        224
    ],
    "empty_cameras": 1,
    "tokenizer_max_length": 200,
    "text_tokenizer_name": "google/paligemma-3b-pt-224",
    "action_tokenizer_name": "lerobot/fast-action-tokenizer",
    "temperature": 0.0,
    "max_decoding_steps": 32,
    "use_kv_cache": true,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "MEAN_STD",
        "ACTION": "MEAN_STD"
    },
    "gradient_checkpointing": true,
    "compile_model": false,
    "compile_mode": "max-autotune",
    "optimizer_lr": 0.00025,
    "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": 30000,
    "scheduler_decay_lr": 2.5e-05
}