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multiframe

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multiframe
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{
    "type": "pi05",
    "n_obs_steps": 5,
    "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": [
                32
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "push_to_hub": false,
    "repo_id": null,
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": "/data/output-train/output-lrbtwin_pi05_multiframe_delta/pi05_multiframe5_delta_mixed12345_8gpu80g/checkpoints/003000/pretrained_model",
    "paligemma_variant": "gemma_2b",
    "action_expert_variant": "gemma_300m",
    "dtype": "bfloat16",
    "use_peft": false,
    "rtc_config": null,
    "freeze_vision_encoder": false,
    "train_expert_only": false,
    "chunk_size": 50,
    "n_action_steps": 50,
    "max_state_dim": 16,
    "max_action_dim": 32,
    "num_inference_steps": 10,
    "time_sampling_beta_alpha": 1.5,
    "time_sampling_beta_beta": 1.0,
    "time_sampling_scale": 0.999,
    "time_sampling_offset": 0.001,
    "min_period": 0.004,
    "max_period": 4.0,
    "image_resolution": [
        224,
        224
    ],
    "empty_cameras": 0,
    "tokenizer_max_length": 200,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "QUANTILES",
        "ACTION": "QUANTILES"
    },
    "gradient_checkpointing": true,
    "compile_model": false,
    "compile_mode": "max-autotune",
    "keep_vision_float32": false,
    "history_max_image_frames": 0,
    "history_max_action_steps": 0,
    "history_action_memory_time": 0.0,
    "train_with_history_kv": false,
    "history_training_rollout_steps": 0,
    "history_reference_window_training": false,
    "history_anchor_stride": 0,
    "history_supervise_last_block_only": false,
    "history_training_chunk_supervision_steps": 0,
    "history_training_chunk_supervision_decay": 1.0,
    "gripper_loss_weight": 1.0,
    "gripper_action_dim": -1,
    "use_delta_joint_actions": true,
    "delta_action_mask_dims": [
        7,
        -1,
        7,
        -1
    ],
    "conditioning_mode": "global_task_plus_state_block",
    "include_state_in_task_prompt": false,
    "append_source_newline_token": true,
    "use_state_input": true,
    "optimizer_lr": 1e-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": 1000,
    "scheduler_decay_steps": 100000,
    "scheduler_decay_lr": 1e-06
}