| { |
| "type": "pi0fast", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.images.overhead": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 240, |
| 320 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "push_to_hub": true, |
| "repo_id": "zacapa/P_SO101_FMB_pi0f_01", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "chunk_size": 10, |
| "n_action_steps": 5, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| }, |
| "max_state_dim": 32, |
| "max_action_dim": 32, |
| "resize_imgs_with_padding": [ |
| 224, |
| 224 |
| ], |
| "interpolate_like_pi": false, |
| "empty_cameras": 0, |
| "adapt_to_pi_aloha": false, |
| "use_delta_joint_actions_aloha": false, |
| "tokenizer_max_length": 48, |
| "proj_width": 1024, |
| "max_decoding_steps": 256, |
| "fast_skip_tokens": 128, |
| "max_input_seq_len": 256, |
| "use_cache": true, |
| "freeze_vision_encoder": true, |
| "freeze_lm_head": true, |
| "optimizer_lr": 0.0001, |
| "optimizer_betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 1e-05, |
| "scheduler_warmup_steps": 1000, |
| "scheduler_decay_steps": 30000, |
| "scheduler_decay_lr": 2.5e-06, |
| "checkpoint_path": null, |
| "padding_side": "right", |
| "precision": "bfloat16", |
| "grad_clip_norm": 1, |
| "relaxed_action_decoding": true |
| } |
