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pretrained_model/config.json
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{
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"type": "pi0_fast",
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"n_obs_steps": 1,
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"input_features": {
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"observation.state": {
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"type": "STATE",
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"shape": [
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6
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]
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},
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"observation.images.front": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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6
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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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"use_peft": false,
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"push_to_hub": true,
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"repo_id": "oops89/pi0fast_so101_pencil_in_box",
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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path": "lerobot/pi0fast-base",
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"paligemma_variant": "gemma_2b",
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"action_expert_variant": "gemma_300m",
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"dtype": "bfloat16",
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"chunk_size": 10,
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"n_action_steps": 10,
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"max_state_dim": 32,
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"max_action_dim": 32,
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"max_action_tokens": 256,
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"rtc_config": null,
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"image_resolution": [
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224,
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224
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],
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"empty_cameras": 0,
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"tokenizer_max_length": 200,
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"text_tokenizer_name": "google/paligemma-3b-pt-224",
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"action_tokenizer_name": "physical-intelligence/fast",
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"temperature": 0.0,
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"max_decoding_steps": 256,
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"fast_skip_tokens": 128,
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"validate_action_token_prefix": true,
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"use_kv_cache": true,
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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},
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"gradient_checkpointing": true,
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"compile_model": false,
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"compile_mode": "max-autotune",
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"optimizer_lr": 2.5e-05,
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"optimizer_betas": [
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0.9,
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0.95
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 0.01,
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"optimizer_grad_clip_norm": 1.0,
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"scheduler_warmup_steps": 500,
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"scheduler_decay_steps": 5000,
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"scheduler_decay_lr": 1e-05
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}
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pretrained_model/model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:10334d7c9548b4fe60c2c29936590ba17bed49dd9c38e8f6d815c5346904a29e
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size 1677721600
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