Rayao/pi05_g1_blockstacking
015
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}