CoolFace
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samithva/stack_cups

sourceHugging Faceupdated 1mo agoView on Hugging Face
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config.json109 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                79            ]10        },11        "observation.images.r_wrist": {12            "type": "VISUAL",13            "shape": [14                3,15                480,16                64017            ]18        },19        "observation.images.top": {20            "type": "VISUAL",21            "shape": [22                3,23                480,24                64025            ]26        },27        "observation.images.realsense": {28            "type": "VISUAL",29            "shape": [30                3,31                480,32                64033            ]34        }35    },36    "output_features": {37        "action": {38            "type": "ACTION",39            "shape": [40                741            ]42        }43    },44    "device": "cuda",45    "use_amp": false,46    "use_peft": false,47    "push_to_hub": true,48    "repo_id": "samithva/pi05_stack_cups_3cams",49    "private": null,50    "tags": null,51    "license": null,52    "pretrained_path": "/data4/wanshan/workspace/lerobot/checkpoints/lerobot--pi05-base",53    "pretrained_revision": null,54    "paligemma_variant": "gemma_2b",55    "action_expert_variant": "gemma_300m",56    "dtype": "bfloat16",57    "chunk_size": 50,58    "n_action_steps": 50,59    "max_state_dim": 32,60    "max_action_dim": 32,61    "num_inference_steps": 10,62    "time_sampling_beta_alpha": 1.5,63    "time_sampling_beta_beta": 1.0,64    "time_sampling_scale": 0.999,65    "time_sampling_offset": 0.001,66    "min_period": 0.004,67    "max_period": 4.0,68    "use_relative_actions": false,69    "relative_exclude_joints": [70        "gripper"71    ],72    "action_feature_names": [73        "joint_1.pos",74        "joint_2.pos",75        "joint_3.pos",76        "joint_4.pos",77        "joint_5.pos",78        "joint_6.pos",79        "gripper.pos"80    ],81    "rtc_config": null,82    "image_resolution": [83        224,84        22485    ],86    "empty_cameras": 0,87    "tokenizer_max_length": 200,88    "normalization_mapping": {89        "VISUAL": "IDENTITY",90        "STATE": "QUANTILES",91        "ACTION": "QUANTILES"92    },93    "gradient_checkpointing": true,94    "compile_model": true,95    "compile_mode": "max-autotune",96    "freeze_vision_encoder": false,97    "train_expert_only": false,98    "optimizer_lr": 2.5e-05,99    "optimizer_betas": [100        0.9,101        0.95102    ],103    "optimizer_eps": 1e-08,104    "optimizer_weight_decay": 0.01,105    "optimizer_grad_clip_norm": 1.0,106    "scheduler_warmup_steps": 1000,107    "scheduler_decay_steps": 30000,108    "scheduler_decay_lr": 2.5e-06109}