| { |
| "type": "pi_align", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.images.image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "push_to_hub": true, |
| "repo_id": "nikriz/lerobot_pi05_chunk_align_bridge_oxe", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": "lerobot/pi05_base", |
| "base_policy": "pi05", |
| "lam_checkpoint_path": "/home/work/robotics/junhachun/dev/vggt_lam/bridge_oxe/checkpoints/last/lam_stage1.ckpt", |
| "alignment_loss_weight": 1.0, |
| "action_token_layer": 10, |
| "lam_frame_interval": 5, |
| "paligemma_variant": "gemma_2b", |
| "action_expert_variant": "gemma_300m", |
| "dtype": "bfloat16", |
| "kv_attn": false, |
| "kv_projector_type": "linear", |
| "sinkhorn": 1, |
| "spnorm_gamma": null, |
| "eval_nope_front": false, |
| "eval_nope_wrist": false, |
| "eval_ignore_front": false, |
| "eval_ignore_wrist": false, |
| "eval_ignore_text": false, |
| "eval_vlm_independent": false, |
| "eval_vlm_causal": false, |
| "chunk_size": 50, |
| "n_action_steps": 50, |
| "max_state_dim": 32, |
| "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, |
| "rtc_config": null, |
| "image_resolution": [ |
| 224, |
| 224 |
| ], |
| "empty_cameras": 0, |
| "tokenizer_max_length": 48, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "QUANTILES", |
| "ACTION": "QUANTILES" |
| }, |
| "gradient_checkpointing": true, |
| "compile_model": false, |
| "compile_mode": "max-autotune", |
| "freeze_vision_tower": false, |
| "freeze_language_model": false, |
| "freeze_expert": false, |
| "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": 1000, |
| "scheduler_decay_steps": 30000, |
| "scheduler_decay_lr": 2.5e-06 |
| } |
