Upload policy
Browse files- config.json +95 -0
- model.safetensors +3 -0
config.json
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{
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"type": "pi05",
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"n_obs_steps": 1,
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"input_features": {
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"observation.images.base_0_rgb": {
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"type": "VISUAL",
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"shape": [
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3,
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224,
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224
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]
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},
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"observation.images.left_wrist_0_rgb": {
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"type": "VISUAL",
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"shape": [
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3,
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224,
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224
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]
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},
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"observation.images.right_wrist_0_rgb": {
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"type": "VISUAL",
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"shape": [
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3,
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224,
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224
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]
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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32
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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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32
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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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"use_peft": false,
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"push_to_hub": true,
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"repo_id": null,
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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path": null,
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"paligemma_variant": "gemma_2b",
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"action_expert_variant": "gemma_300m",
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"dtype": "float32",
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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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"num_inference_steps": 10,
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"time_sampling_beta_alpha": 1.5,
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"time_sampling_beta_beta": 1.0,
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"time_sampling_scale": 0.999,
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"time_sampling_offset": 0.001,
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"min_period": 0.004,
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"max_period": 4.0,
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"rtc_config": null,
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"image_resolution": [
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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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"tokenizer_max_length": 200,
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "QUANTILES",
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"ACTION": "QUANTILES"
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},
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"gradient_checkpointing": false,
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"compile_model": false,
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"compile_mode": "max-autotune",
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"freeze_vision_encoder": false,
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"train_expert_only": false,
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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": 0.01,
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"optimizer_grad_clip_norm": 1.0,
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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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}
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model.safetensors
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:78231ae5df4e67282c9dbe56741299ed069aceb3cde9287165244aa8550edf13
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size 14467170760
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