Upload policy
Browse files- config.json +80 -0
- model.safetensors +3 -0
config.json
ADDED
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"type": "pi0",
|
3 |
+
"n_obs_steps": 1,
|
4 |
+
"normalization_mapping": {
|
5 |
+
"VISUAL": "IDENTITY",
|
6 |
+
"STATE": "MEAN_STD",
|
7 |
+
"ACTION": "MEAN_STD"
|
8 |
+
},
|
9 |
+
"input_features": {
|
10 |
+
"observation.state": {
|
11 |
+
"type": "STATE",
|
12 |
+
"shape": [
|
13 |
+
6
|
14 |
+
]
|
15 |
+
},
|
16 |
+
"observation.images.0": {
|
17 |
+
"type": "VISUAL",
|
18 |
+
"shape": [
|
19 |
+
3,
|
20 |
+
480,
|
21 |
+
640
|
22 |
+
]
|
23 |
+
},
|
24 |
+
"observation.images.1": {
|
25 |
+
"type": "VISUAL",
|
26 |
+
"shape": [
|
27 |
+
3,
|
28 |
+
480,
|
29 |
+
640
|
30 |
+
]
|
31 |
+
},
|
32 |
+
"observation.images.2": {
|
33 |
+
"type": "VISUAL",
|
34 |
+
"shape": [
|
35 |
+
3,
|
36 |
+
480,
|
37 |
+
640
|
38 |
+
]
|
39 |
+
}
|
40 |
+
},
|
41 |
+
"output_features": {
|
42 |
+
"action": {
|
43 |
+
"type": "ACTION",
|
44 |
+
"shape": [
|
45 |
+
6
|
46 |
+
]
|
47 |
+
}
|
48 |
+
},
|
49 |
+
"device": "cpu",
|
50 |
+
"use_amp": false,
|
51 |
+
"chunk_size": 50,
|
52 |
+
"n_action_steps": 50,
|
53 |
+
"max_state_dim": 32,
|
54 |
+
"max_action_dim": 32,
|
55 |
+
"resize_imgs_with_padding": [
|
56 |
+
224,
|
57 |
+
224
|
58 |
+
],
|
59 |
+
"empty_cameras": 0,
|
60 |
+
"adapt_to_pi_aloha": false,
|
61 |
+
"use_delta_joint_actions_aloha": false,
|
62 |
+
"tokenizer_max_length": 48,
|
63 |
+
"proj_width": 1024,
|
64 |
+
"num_steps": 10,
|
65 |
+
"use_cache": true,
|
66 |
+
"attention_implementation": "eager",
|
67 |
+
"freeze_vision_encoder": true,
|
68 |
+
"train_expert_only": false,
|
69 |
+
"train_state_proj": true,
|
70 |
+
"optimizer_lr": 2.5e-05,
|
71 |
+
"optimizer_betas": [
|
72 |
+
0.9,
|
73 |
+
0.95
|
74 |
+
],
|
75 |
+
"optimizer_eps": 1e-08,
|
76 |
+
"optimizer_weight_decay": 1e-10,
|
77 |
+
"scheduler_warmup_steps": 1000,
|
78 |
+
"scheduler_decay_steps": 30000,
|
79 |
+
"scheduler_decay_lr": 2.5e-06
|
80 |
+
}
|
model.safetensors
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:17833b7fd23153580f336db5e41d94f66bfda0bcea5f689ea624c09abae60a80
|
3 |
+
size 7536030336
|