| { |
| "type": "pi05", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.images.ego_view": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.left_wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.right_wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 31 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 66 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": false, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": "lerobot/pi05_base", |
| "pretrained_revision": null, |
| "paligemma_variant": "gemma_2b", |
| "action_expert_variant": "gemma_300m", |
| "dtype": "float32", |
| "chunk_size": 50, |
| "n_action_steps": 50, |
| "use_visual_memory": false, |
| "use_proprioceptive_memory": false, |
| "memory_frames": 6, |
| "memory_stride": 30, |
| "memory_temporal_attention_every": 4, |
| "max_state_dim": 32, |
| "max_action_dim": 66, |
| "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": [ |
| "motion_token_0", |
| "motion_token_1", |
| "motion_token_2", |
| "motion_token_3", |
| "motion_token_4", |
| "motion_token_5", |
| "motion_token_6", |
| "motion_token_7", |
| "motion_token_8", |
| "motion_token_9", |
| "motion_token_10", |
| "motion_token_11", |
| "motion_token_12", |
| "motion_token_13", |
| "motion_token_14", |
| "motion_token_15", |
| "motion_token_16", |
| "motion_token_17", |
| "motion_token_18", |
| "motion_token_19", |
| "motion_token_20", |
| "motion_token_21", |
| "motion_token_22", |
| "motion_token_23", |
| "motion_token_24", |
| "motion_token_25", |
| "motion_token_26", |
| "motion_token_27", |
| "motion_token_28", |
| "motion_token_29", |
| "motion_token_30", |
| "motion_token_31", |
| "motion_token_32", |
| "motion_token_33", |
| "motion_token_34", |
| "motion_token_35", |
| "motion_token_36", |
| "motion_token_37", |
| "motion_token_38", |
| "motion_token_39", |
| "motion_token_40", |
| "motion_token_41", |
| "motion_token_42", |
| "motion_token_43", |
| "motion_token_44", |
| "motion_token_45", |
| "motion_token_46", |
| "motion_token_47", |
| "motion_token_48", |
| "motion_token_49", |
| "motion_token_50", |
| "motion_token_51", |
| "motion_token_52", |
| "motion_token_53", |
| "motion_token_54", |
| "motion_token_55", |
| "motion_token_56", |
| "motion_token_57", |
| "motion_token_58", |
| "motion_token_59", |
| "motion_token_60", |
| "motion_token_61", |
| "motion_token_62", |
| "motion_token_63", |
| "left_gripper", |
| "right_gripper" |
| ], |
| "rtc_config": null, |
| "rtc_training_max_delay": 1, |
| "rtc_training_schedule": "staircase", |
| "staircase_warmup_prob": 0.2, |
| "staircase_time_jitter": 0.1, |
| "image_resolution": [ |
| 224, |
| 224 |
| ], |
| "empty_cameras": 0, |
| "tokenizer_max_length": 200, |
| "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": true, |
| "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 |
| } |
