CoolFace
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Rayao/pi05_g1_blockstacking

sourceHugging Faceupdated 5mo agoView on Hugging Face
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config.json99 linesDownload Raw Back to root
1{2    "type": "pi05",3    "n_obs_steps": 1,4    "input_features": {5        "observation.state": {6            "type": "STATE",7            "shape": [8                289            ]10        },11        "observation.images.cam_left_high": {12            "type": "VISUAL",13            "shape": [14                3,15                480,16                64017            ]18        },19        "observation.images.cam_right_high": {20            "type": "VISUAL",21            "shape": [22                3,23                480,24                64025            ]26        },27        "observation.images.cam_left_wrist": {28            "type": "VISUAL",29            "shape": [30                3,31                480,32                64033            ]34        },35        "observation.images.cam_right_wrist": {36            "type": "VISUAL",37            "shape": [38                3,39                480,40                64041            ]42        }43    },44    "output_features": {45        "action": {46            "type": "ACTION",47            "shape": [48                2849            ]50        }51    },52    "device": "cuda",53    "use_amp": false,54    "push_to_hub": false,55    "repo_id": null,56    "private": null,57    "tags": null,58    "license": null,59    "pretrained_path": "lerobot/pi05_base",60    "paligemma_variant": "gemma_2b",61    "action_expert_variant": "gemma_300m",62    "dtype": "bfloat16",63    "chunk_size": 50,64    "n_action_steps": 50,65    "max_state_dim": 32,66    "max_action_dim": 32,67    "num_inference_steps": 10,68    "time_sampling_beta_alpha": 1.5,69    "time_sampling_beta_beta": 1.0,70    "time_sampling_scale": 0.999,71    "time_sampling_offset": 0.001,72    "min_period": 0.004,73    "max_period": 4.0,74    "image_resolution": [75        224,76        22477    ],78    "empty_cameras": 0,79    "tokenizer_max_length": 200,80    "normalization_mapping": {81        "VISUAL": "IDENTITY",82        "STATE": "QUANTILES",83        "ACTION": "QUANTILES"84    },85    "gradient_checkpointing": true,86    "compile_model": true,87    "compile_mode": "max-autotune",88    "optimizer_lr": 2.5e-05,89    "optimizer_betas": [90        0.9,91        0.9592    ],93    "optimizer_eps": 1e-08,94    "optimizer_weight_decay": 0.01,95    "optimizer_grad_clip_norm": 1.0,96    "scheduler_warmup_steps": 1000,97    "scheduler_decay_steps": 30000,98    "scheduler_decay_lr": 2.5e-0699}