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Upload policy

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Files changed (2) hide show
  1. config.json +80 -0
  2. model.safetensors +3 -0
config.json ADDED
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+ {
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+ "type": "pi0",
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+ "n_obs_steps": 1,
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+ "normalization_mapping": {
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+ "VISUAL": "IDENTITY",
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+ "STATE": "MEAN_STD",
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+ "ACTION": "MEAN_STD"
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+ },
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+ "input_features": {
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+ "observation.state": {
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+ "type": "STATE",
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+ "shape": [
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+ 6
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+ ]
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+ },
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+ "observation.images.0": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 3,
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+ 480,
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+ 640
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+ ]
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+ },
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+ "observation.images.1": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 3,
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+ 480,
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+ 640
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+ ]
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+ },
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+ "observation.images.2": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 3,
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+ 480,
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+ 640
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+ ]
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+ }
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+ },
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+ "output_features": {
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+ "action": {
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+ "type": "ACTION",
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+ "shape": [
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+ 6
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+ ]
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+ }
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+ },
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+ "device": "cpu",
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+ "use_amp": false,
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+ "chunk_size": 50,
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+ "n_action_steps": 50,
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+ "max_state_dim": 32,
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+ "max_action_dim": 32,
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+ "resize_imgs_with_padding": [
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+ 224,
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+ 224
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+ ],
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+ "empty_cameras": 0,
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+ "adapt_to_pi_aloha": false,
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+ "use_delta_joint_actions_aloha": false,
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+ "tokenizer_max_length": 48,
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+ "proj_width": 1024,
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+ "num_steps": 10,
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+ "use_cache": true,
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+ "attention_implementation": "eager",
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+ "freeze_vision_encoder": true,
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+ "train_expert_only": false,
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+ "train_state_proj": true,
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+ "optimizer_lr": 2.5e-05,
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+ "optimizer_betas": [
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+ 0.9,
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+ 0.95
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+ ],
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+ "optimizer_eps": 1e-08,
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+ "optimizer_weight_decay": 1e-10,
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+ "scheduler_warmup_steps": 1000,
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+ "scheduler_decay_steps": 30000,
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+ "scheduler_decay_lr": 2.5e-06
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+ }
model.safetensors ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:17833b7fd23153580f336db5e41d94f66bfda0bcea5f689ea624c09abae60a80
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+ size 7536030336