| { |
| "type": "pi05-action-streaming", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 14 |
| ] |
| }, |
| "observation.images.cam_high": { |
| "type": "VISUAL", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ] |
| }, |
| "observation.images.cam_left_wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ] |
| }, |
| "observation.images.cam_right_wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 14 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": false, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": "/lustre/fsw/portfolios/nvr/projects/nvr_elm_llm/users/zekail/models/flashvla_action_unified_clean_random_fsdp_bf16_bs32_100k/checkpoints/last/pretrained_model", |
| "attention_backend": "sdpa", |
| "paligemma_variant": "gemma_2b", |
| "action_expert_variant": "gemma_300m", |
| "dtype": "bfloat16", |
| "chunk_size": 20, |
| "n_action_steps": 10, |
| "max_state_dim": 32, |
| "max_action_dim": 32, |
| "state_cond": false, |
| "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, |
| "num_frames_per_view": 1, |
| "tokenizer_name": "/lustre/fsw/portfolios/nvr/projects/nvr_elm_llm/users/zekail/models/google/paligemma-3b-pt-224", |
| "tokenizer_max_length": 200, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "QUANTILES", |
| "ACTION": "QUANTILES" |
| }, |
| "gradient_checkpointing": true, |
| "freeze_vision_encoder": false, |
| "compile_model": false, |
| "compile_mode": "max-autotune", |
| "fuse_qkv": false, |
| "fuse_gate_up": 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, |
| "vlm_config": {}, |
| "action_expert_config": {}, |
| "num_buffer_slots": 4, |
| "shared_obs": true, |
| "timestep_sample_mode": "per-chunk", |
| "time_mlp_weight_decay": 0.0, |
| "cold_start_mode": "current_state" |
| } |
