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train

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train
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{
    "type": "pi05",
    "n_obs_steps": 1,
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                54
            ]
        },
        "observation.images.robot_pov_cam": {
            "type": "VISUAL",
            "shape": [
                3,
                512,
                512
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                36
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": true,
    "repo_id": "qers123/train",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": "lerobot/pi05_base",
    "pretrained_revision": null,
    "paligemma_variant": "gemma_2b",
    "action_expert_variant": "gemma_300m",
    "dtype": "bfloat16",
    "chunk_size": 50,
    "n_action_steps": 50,
    "max_state_dim": 32,
    "max_action_dim": 36,
    "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,
    "use_relative_actions": false,
    "relative_exclude_joints": [
        "gripper"
    ],
    "action_feature_names": [
        "action_0",
        "action_1",
        "action_2",
        "action_3",
        "action_4",
        "action_5",
        "action_6",
        "action_7",
        "action_8",
        "action_9",
        "action_10",
        "action_11",
        "action_12",
        "action_13",
        "action_14",
        "action_15",
        "action_16",
        "action_17",
        "action_18",
        "action_19",
        "action_20",
        "action_21",
        "action_22",
        "action_23",
        "action_24",
        "action_25",
        "action_26",
        "action_27",
        "action_28",
        "action_29",
        "action_30",
        "action_31",
        "action_32",
        "action_33",
        "action_34",
        "action_35"
    ],
    "rtc_config": null,
    "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",
    "freeze_vision_encoder": false,
    "train_expert_only": 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
}