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pi05_base
File size: 1,896 Bytes 
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{
    "type": "pi05",
    "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
}