pi05_align_libero_20k / config.json
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{
"type": "pi_align",
"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
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
7
]
}
},
"device": "cuda",
"use_amp": false,
"push_to_hub": true,
"repo_id": "nikriz/lerobot_pi05_align_univla_libero",
"private": null,
"tags": null,
"license": null,
"pretrained_path": "/home/work/robotics/junhachun/dev/pi05_align_univla/libero/checkpoints/last/pretrained_model",
"base_policy": "pi05",
"lam_checkpoint_path": "/home/work/robotics/junhachun/dev/lerobot/src/lerobot/policies/univla/checkpoints/lam-stage-2.ckpt",
"alignment_loss_weight": 1.0,
"action_token_layer": 6,
"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": 5e-05,
"optimizer_betas": [
0.9,
0.95
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 1e-10,
"optimizer_grad_clip_norm": 1.0,
"ema_decay": 0.999,
"scheduler_warmup_steps": 10000,
"scheduler_decay_steps": 30000,
"scheduler_decay_lr": 5e-05
}