| { |
| "type": "pi052", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 16 |
| ] |
| }, |
| "observation.images.follower_d455f": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.left_wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.right_wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 16 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": false, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": "/home/work/LEAP/outputs/train/Redox_200epi_subtask_pi052/checkpoints/last/pretrained_model", |
| "pretrained_revision": null, |
| "paligemma_variant": "gemma_2b", |
| "action_expert_variant": "gemma_300m", |
| "dtype": "float32", |
| "chunk_size": 50, |
| "n_action_steps": 50, |
| "use_visual_memory": false, |
| "use_proprioceptive_memory": false, |
| "memory_frames": 6, |
| "memory_stride": 30, |
| "memory_temporal_attention_every": 4, |
| "max_state_dim": 32, |
| "max_action_dim": 32, |
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| "time_sampling_beta_alpha": 1.5, |
| "time_sampling_beta_beta": 1.0, |
| "time_sampling_scale": 0.95, |
| "time_sampling_offset": 0.05, |
| "min_period": 0.004, |
| "max_period": 4.0, |
| "use_relative_actions": false, |
| "relative_exclude_joints": [ |
| "gripper" |
| ], |
| "action_feature_names": [ |
| "left_joint_1.pos", |
| "left_joint_2.pos", |
| "left_joint_3.pos", |
| "left_joint_4.pos", |
| "left_joint_5.pos", |
| "left_joint_6.pos", |
| "left_joint_7.pos", |
| "left_gripper.pos", |
| "right_joint_1.pos", |
| "right_joint_2.pos", |
| "right_joint_3.pos", |
| "right_joint_4.pos", |
| "right_joint_5.pos", |
| "right_joint_6.pos", |
| "right_joint_7.pos", |
| "right_gripper.pos" |
| ], |
| "rtc_config": null, |
| "rtc_training_max_delay": 0, |
| "image_resolution": [ |
| 224, |
| 224 |
| ], |
| "empty_cameras": 0, |
| "tokenizer_max_length": 256, |
| "text_tokenizer_name": "google/paligemma-3b-pt-224", |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "QUANTILES", |
| "ACTION": "QUANTILES" |
| }, |
| "gradient_checkpointing": true, |
| "compile_model": false, |
| "compile_mode": "max-autotune", |
| "freeze_vision_encoder": false, |
| "train_expert_only": false, |
| "optimizer_lr": 2.5e-05, |
| "optimizer_betas": [ |
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| 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, |
| "recipe_path": null, |
| "recipe": { |
| "blend": { |
| "high_level_subtask": { |
| "weight": 0.3, |
| "messages": [ |
| { |
| "role": "user", |
| "content": "${task}", |
| "stream": "high_level" |
| }, |
| { |
| "role": "assistant", |
| "content": "${subtask}", |
| "stream": "high_level", |
| "target": true, |
| "if_present": "subtask" |
| } |
| ] |
| }, |
| "low_level_execution": { |
| "weight": 0.7, |
| "messages": [ |
| { |
| "role": "user", |
| "content": "${subtask}", |
| "stream": "low_level", |
| "if_present": "subtask" |
| } |
| ] |
| } |
| } |
| }, |
| "memory_scratchpad": false, |
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| "unfreeze_lm_head": true, |
| "plan_dropout_prob": 0.0, |
| "memory_dropout_prob": 0.0, |
| "subtask_dropout_prob": 0.0, |
| "enable_fast_action_loss": true, |
| "action_tokenizer_name": "lerobot/fast-action-tokenizer", |
| "max_action_tokens": 256, |
| "fast_skip_tokens": 1152, |
| "fast_action_loss_weight": 1.0, |
| "auto_fit_fast_tokenizer": false, |
| "fast_tokenizer_cache_dir": "~/.cache/lerobot/fast_tokenizers", |
| "fast_tokenizer_fit_samples": 1024, |
| "fast_tokenizer_validation_samples": 256, |
| "fast_tokenizer_max_reconstruction_rmse": 0.1, |
| "fast_tokenizer_max_dim_rmse": 0.2, |
| "knowledge_insulation": true, |
| "use_flashrt_adarms": false, |
| "use_compiled_text_ce": false, |
| "use_compiled_vision": false, |
| "use_flex_attention": false, |
| "use_manual_attention": false, |
| "manual_attention_scope": "all", |
| "lm_head_lr_scale": 1.0, |
| "backbone_lr_scale": 1.0, |
| "action_expert_lr_scale": 1.0, |
| "flow_num_repeats": 5, |
| "text_ce_z_loss_weight": 0.0001, |
| "use_flashrt_fp8_mlp": false, |
| "optimizer_foreach": false, |
| "optimizer_fused": true |
| } |
