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pi05_droid_pytorch

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Files changed (5) hide show
  1. config.json +89 -5
  2. policy_postprocessor.json +32 -0
  3. policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  4. policy_preprocessor.json +87 -0
  5. policy_preprocessor_step_2_normalizer_processor.safetensors +3 -0
config.json CHANGED
@@ -1,7 +1,91 @@
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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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+ "repo_id": "pepijn223/pi05_libero_31_9_non_q",
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+ "private": null,
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+ "license": null,
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+ "pretrained_path": "lerobot/pi05_libero",
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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": 50,
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+ "n_action_steps": 50,
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+ "optimizer_eps": 1e-08,
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+ "scheduler_warmup_steps": 1000,
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+ "scheduler_decay_lr": 2.5e-06
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  }
policy_postprocessor.json ADDED
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policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
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policy_preprocessor.json ADDED
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policy_preprocessor_step_2_normalizer_processor.safetensors ADDED
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