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InternRobotics/Pi0_GoogleRobot_meanstd

sourceHugging Faceupdated 1y agoView on Hugging Face
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config.json50 linesDownload Raw Back to root
1{2  "adapt_to_pi_aloha": false,3  "architectures": [4    "PI0Policy"5  ],6  "attention_implementation": "eager",7  "attn_implementation": null,8  "chunk_size": 50,9  "device": "cuda",10  "empty_cameras": 0,11  "freeze_vision_encoder": true,12  "input_features": {},13  "max_action_dim": 32,14  "max_state_dim": 32,15  "model_type": "pi0",16  "n_action_steps": 50,17  "n_obs_steps": 1,18  "normalization_mapping": {19    "ACTION": "MEAN_STD",20    "STATE": "MEAN_STD",21    "VISUAL": "IDENTITY"22  },23  "num_steps": 10,24  "optimizer_betas": [25    0.9,26    0.9527  ],28  "optimizer_eps": 1e-08,29  "optimizer_lr": 2.5e-05,30  "optimizer_weight_decay": 1e-10,31  "output_features": {},32  "proj_width": 1024,33  "resize_imgs_with_padding": [34    224,35    22436  ],37  "scheduler_decay_lr": 2.5e-06,38  "scheduler_decay_steps": 30000,39  "scheduler_warmup_steps": 1000,40  "tokenizer_max_length": 48,41  "torch_dtype": "bfloat16",42  "train_expert_only": false,43  "train_state_proj": true,44  "transformers_version": "4.51.3",45  "type": "pi0",46  "use_amp": false,47  "use_cache": true,48  "use_delta_joint_actions_aloha": false49}50