Download recipe.json from henry13522/Taskanchor: direct link, hf CLI and curl.
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14.5 kB
| { | |
| "action_horizon": 20, | |
| "architecture": "primary_camera_v5_spatial_history_offset_512_1152", | |
| "base_params": "checkpoints/pi05_base/params", | |
| "batch_size": 256, | |
| "cache": "data/robomem_siglip_base_main_spatial_v3", | |
| "cache_manifest": { | |
| "base_params": "checkpoints/pi05_base/params", | |
| "camera": "image", | |
| "dataset": "data/robomemarena_pi05_task_all_with_subtask_seed", | |
| "encoder_param_dtype": "bfloat16", | |
| "feature_dim": 1152, | |
| "feature_source": "SigLIP/Transformer/encoder_norm", | |
| "format": "robomem_siglip_main_spatial_v3_npy", | |
| "frame0_pool": "bilinear_16x16_to_4x4_no_antialias", | |
| "frame0_tokens": 16, | |
| "history_capacity": 191, | |
| "history_pool": "bilinear_16x16_to_4x4_no_antialias", | |
| "history_stride": 10, | |
| "history_tokens_per_frame": 16, | |
| "image_size": 224, | |
| "max_task_frames": 1918, | |
| "metadata_sha256": "7b3c033bbbb671a47b0eb9caf2f197c2dd0414219f9a4110ba83a9976ba74bf6", | |
| "resize": "PIL_bilinear_uint8", | |
| "stored_dtype": "float16_from_bfloat16", | |
| "total_frames": 2811755, | |
| "total_tasks": 2600 | |
| }, | |
| "checkpoint_root": "checkpoints", | |
| "dataset": "data/robomemarena_pi05_task_all_with_subtask_seed", | |
| "execution_horizon": 10, | |
| "freeze_steps": 5000, | |
| "freeze_vision": true, | |
| "fsdp_devices": 8, | |
| "history_capacity": 191, | |
| "history_stride": 10, | |
| "history_tokens_per_frame": 16, | |
| "log_interval": 20, | |
| "loss": "flow+0.01*(100*MSE+1-Pearson)", | |
| "max_task_frames": 1918, | |
| "metadata_filename": "robomem_memory.json", | |
| "model": { | |
| "action_dim": 32, | |
| "action_expert_variant": "gemma_300m", | |
| "action_horizon": 20, | |
| "discrete_state_input": false, | |
| "dtype": "bfloat16", | |
| "max_token_len": 200, | |
| "paligemma_variant": "gemma_2b", | |
| "pi05": true, | |
| "pytorch_compile_mode": "max-autotune" | |
| }, | |
| "progress_target": "round(subtask_id/num_subtasks,2)", | |
| "resume": false, | |
| "run_name": "main_v5_spatial4x4_h191_a20_exec10_bs256_5k50k", | |
| "save_interval": 1000, | |
| "source_sha256": { | |
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| } | |