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| "type": "pi0fast", | |
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| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
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| 320 | |
| ] | |
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| 640 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
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| ] | |
| } | |
| }, | |
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| "use_amp": false, | |
| "push_to_hub": true, | |
| "repo_id": "romanrab/pi0fast_battery_box_right_arm_150", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "chunk_size": 10, | |
| "n_action_steps": 5, | |
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| "max_action_dim": 32, | |
| "resize_imgs_with_padding": [ | |
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| 224 | |
| ], | |
| "interpolate_like_pi": false, | |
| "empty_cameras": 0, | |
| "adapt_to_pi_aloha": false, | |
| "use_delta_joint_actions_aloha": false, | |
| "tokenizer_max_length": 48, | |
| "proj_width": 1024, | |
| "max_decoding_steps": 256, | |
| "fast_skip_tokens": 128, | |
| "max_input_seq_len": 256, | |
| "use_cache": true, | |
| "freeze_vision_encoder": true, | |
| "freeze_lm_head": true, | |
| "optimizer_lr": 0.0001, | |
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| 0.95 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 1e-05, | |
| "scheduler_warmup_steps": 1000, | |
| "scheduler_decay_steps": 30000, | |
| "scheduler_decay_lr": 2.5e-06, | |
| "checkpoint_path": null, | |
| "padding_side": "right", | |
| "precision": "bfloat16", | |
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| "relaxed_action_decoding": true | |
| } |