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pi05_subtask_base

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pi05_subtask_base
File size: 1,590 Bytes
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{
  "type": "pi05_subtask",
  "n_obs_steps": 1,
  "input_features": {
    "observation.images.base_0_rgb": {
      "type": "VISUAL",
      "shape": [
        3,
        224,
        224
      ]
    },
    "observation.images.left_wrist_0_rgb": {
      "type": "VISUAL",
      "shape": [
        3,
        224,
        224
      ]
    },
    "observation.images.right_wrist_0_rgb": {
      "type": "VISUAL",
      "shape": [
        3,
        224,
        224
      ]
    },
    "observation.state": {
      "type": "STATE",
      "shape": [
        32
      ]
    }
  },
  "output_features": {
    "action": {
      "type": "ACTION",
      "shape": [
        32
      ]
    }
  },
  "device": "mps",
  "use_amp": false,
  "push_to_hub": true,
  "repo_id": null,
  "private": null,
  "tags": null,
  "license": null,
  "paligemma_variant": "gemma_2b",
  "action_expert_variant": "gemma_300m",
  "dtype": "float32",
  "chunk_size": 50,
  "n_action_steps": 50,
  "max_action_dim": 32,
  "max_state_dim": 32,
  "num_inference_steps": 10,
  "time_sampling_beta_alpha": 1.5,
  "time_sampling_beta_beta": 1.0,
  "min_period": 0.004,
  "max_period": 4.0,
  "image_resolution": [
    224,
    224
  ],
  "gradient_checkpointing": false,
  "compile_model": false,
  "compile_mode": "max-autotune",
  "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,
  "tokenizer_max_length": 200
}