| { | |
| "type": "pi05_openpi", | |
| "n_obs_steps": 1, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "input_features": { | |
| "observation.images.image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.image2": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 8 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "push_to_hub": true, | |
| "repo_id": "pepijn223/pi05_libero_6000", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": "pepijn223/pi05_libero_fp32", | |
| "paligemma_variant": "gemma_2b", | |
| "action_expert_variant": "gemma_300m", | |
| "discrete_state_input": true, | |
| "dtype": "bfloat16", | |
| "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, | |
| "min_period": 0.004, | |
| "max_period": 4.0, | |
| "image_resolution": [ | |
| 224, | |
| 224 | |
| ], | |
| "gradient_checkpointing": true, | |
| "compile_model": true, | |
| "compile_mode": "max-autotune", | |
| "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": 6000, | |
| "scheduler_decay_lr": 2.5e-06, | |
| "tokenizer_max_length": 200 | |
| } |