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{
"type": "pi05",
"n_obs_steps": 1,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
6
]
},
"observation.images.front": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"observation.images.table": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
6
]
}
},
"device": "cuda",
"use_amp": false,
"push_to_hub": true,
"repo_id": "Shani123/pi05_so101_pickup_toothpicks_2_4000",
"private": null,
"tags": null,
"license": null,
"pretrained_path": "lerobot/pi05_base",
"paligemma_variant": "gemma_2b",
"action_expert_variant": "gemma_300m",
"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,
"time_sampling_scale": 0.999,
"time_sampling_offset": 0.001,
"min_period": 0.004,
"max_period": 4.0,
"image_resolution": [
224,
224
],
"empty_cameras": 0,
"tokenizer_max_length": 200,
"normalization_mapping": {
"ACTION": "MEAN_STD",
"STATE": "MEAN_STD",
"VISUAL": "IDENTITY"
},
"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": 30000,
"scheduler_decay_lr": 2.5e-06
}