hparams.yaml

paligemma_variant: gemma_2b
action_expert_variant: gemma_300m
dtype: bfloat16
n_obs_steps: 1
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
use_random_input_noise: true
image_resolution:
- 224
- 224
empty_cameras: 0
tokenizer_max_length: 200
gradient_checkpointing: true
compile_model: true
compile_mode: max-autotune
freeze_vision_encoder: false
train_expert_only: false
normalization_mode: QUANTILES
optimizer_lr: 2.5e-05
optimizer_betas:
- 0.9
- 0.95
optimizer_eps: 1.0e-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
dataset_stats:
  observation.state:
    name: observation.state
    shape:
    - 32
    mean:
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    - 0.0
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    - 0.0
    - 0.0
    - 0.0
    - 0.0
    std:
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
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    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    q01:
    - -1.0
    - -1.0
    - -1.0
    - -1.0
    - -1.0
    - -1.0
    - -1.0
    - -1.0
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    - -1.0
    - -1.0
    - -1.0
    - -1.0
    - -1.0
    - -1.0
    - -1.0
    q99:
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
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    - 1.0
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    - 1.0
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    - 1.0
    - 1.0
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    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
  action:
    name: action
    shape:
    - 32
    mean:
    - 0.0
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    - 0.0
    - 0.0
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    - 0.0
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    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    std:
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
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    - 1.0
    - 1.0
    q01:
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    - -1.0
    - -1.0
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    - -1.0
    - -1.0
    - -1.0
    - -1.0
    - -1.0
    q99:
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
    - 1.0
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