| { |
| "type": "pi05", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.images.base_0_rgb": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "observation.images.left_wrist_0_rgb": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "observation.images.right_wrist_0_rgb": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 224, |
| 224 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 54 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 54 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": false, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": "/data/seungyong/models/lerobot_pi05_base_sa54", |
| "pretrained_revision": null, |
| "paligemma_variant": "gemma_2b", |
| "action_expert_variant": "gemma_300m", |
| "dtype": "bfloat16", |
| "chunk_size": 50, |
| "n_action_steps": 50, |
| "max_state_dim": 54, |
| "max_action_dim": 54, |
| "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, |
| "use_relative_actions": false, |
| "relative_exclude_joints": [ |
| "gripper" |
| ], |
| "action_feature_names": [ |
| "right_arm_0", |
| "right_arm_1", |
| "right_arm_2", |
| "right_arm_3", |
| "right_arm_4", |
| "right_arm_5", |
| "right_arm_6", |
| "right_thumb_cmc_flex", |
| "right_thumb_cmc_abd", |
| "right_thumb_mcp", |
| "right_thumb_ip", |
| "right_index_finger_mcp_flex", |
| "right_index_finger_mcp_abd", |
| "right_index_finger_pip", |
| "right_index_finger_dip", |
| "right_middle_finger_mcp_flex", |
| "right_middle_finger_mcp_abd", |
| "right_middle_finger_pip", |
| "right_middle_finger_dip", |
| "right_ring_finger_mcp_flex", |
| "right_ring_finger_mcp_abd", |
| "right_ring_finger_pip", |
| "right_ring_finger_dip", |
| "right_pinky_mcp_flex", |
| "right_pinky_mcp_abd", |
| "right_pinky_pip", |
| "right_pinky_dip", |
| "left_arm_0", |
| "left_arm_1", |
| "left_arm_2", |
| "left_arm_3", |
| "left_arm_4", |
| "left_arm_5", |
| "left_arm_6", |
| "left_thumb_cmc_flex", |
| "left_thumb_cmc_abd", |
| "left_thumb_mcp", |
| "left_thumb_ip", |
| "left_index_finger_mcp_flex", |
| "left_index_finger_mcp_abd", |
| "left_index_finger_pip", |
| "left_index_finger_dip", |
| "left_middle_finger_mcp_flex", |
| "left_middle_finger_mcp_abd", |
| "left_middle_finger_pip", |
| "left_middle_finger_dip", |
| "left_ring_finger_mcp_flex", |
| "left_ring_finger_mcp_abd", |
| "left_ring_finger_pip", |
| "left_ring_finger_dip", |
| "left_pinky_mcp_flex", |
| "left_pinky_mcp_abd", |
| "left_pinky_pip", |
| "left_pinky_dip" |
| ], |
| "rtc_config": null, |
| "image_resolution": [ |
| 224, |
| 224 |
| ], |
| "empty_cameras": 0, |
| "tokenizer_max_length": 320, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "QUANTILES", |
| "ACTION": "QUANTILES" |
| }, |
| "gradient_checkpointing": true, |
| "compile_model": false, |
| "compile_mode": "max-autotune", |
| "freeze_vision_encoder": false, |
| "train_expert_only": false, |
| "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 |
| } |
