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hparams.yaml

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+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
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