| { | |
| "type": "pi0_fast", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.images.base_0_rgb": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ] | |
| }, | |
| "observation.images.left_wrist_0_rgb": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ] | |
| }, | |
| "observation.images.right_wrist_0_rgb": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 32 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 16 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "push_to_hub": true, | |
| "repo_id": "jadechoghari/pi0fast-folding", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": "/fsx/jade_choghari/models/pi0fast-base", | |
| "paligemma_variant": "gemma_2b", | |
| "action_expert_variant": "gemma_300m", | |
| "dtype": "bfloat16", | |
| "chunk_size": 10, | |
| "n_action_steps": 10, | |
| "max_state_dim": 32, | |
| "max_action_dim": 32, | |
| "max_action_tokens": 256, | |
| "rtc_config": null, | |
| "image_resolution": [ | |
| 224, | |
| 224 | |
| ], | |
| "empty_cameras": 0, | |
| "tokenizer_max_length": 200, | |
| "text_tokenizer_name": "google/paligemma-3b-pt-224", | |
| "action_tokenizer_name": "jadechoghari/fast-folding-tokenizer", | |
| "temperature": 0.0, | |
| "max_decoding_steps": 256, | |
| "fast_skip_tokens": 128, | |
| "validate_action_token_prefix": true, | |
| "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": 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": 4000, | |
| "scheduler_decay_steps": 100000, | |
| "scheduler_decay_lr": 1e-05 | |
| } |