Upload policy
Browse files- config.json +86 -0
- model.safetensors +3 -0
config.json
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{
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"type": "pi0fast",
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"n_obs_steps": 1,
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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},
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"input_features": {
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"observation.state": {
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"type": "STATE",
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"shape": [
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6
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]
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},
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"observation.images.0": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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"observation.images.1": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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"observation.images.2": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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6
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]
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}
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},
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"device": "cpu",
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"use_amp": false,
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"chunk_size": 10,
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"n_action_steps": 5,
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"max_state_dim": 32,
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"max_action_dim": 32,
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"resize_imgs_with_padding": [
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224,
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224
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],
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"interpolate_like_pi": false,
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"empty_cameras": 0,
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"adapt_to_pi_aloha": false,
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"use_delta_joint_actions_aloha": false,
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"tokenizer_max_length": 48,
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"proj_width": 1024,
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"max_decoding_steps": 256,
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"fast_skip_tokens": 128,
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"max_input_seq_len": 256,
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"use_cache": true,
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"freeze_vision_encoder": true,
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"freeze_lm_head": true,
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"optimizer_lr": 0.0001,
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"optimizer_betas": [
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0.9,
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0.95
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 1e-05,
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"scheduler_warmup_steps": 1000,
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"scheduler_decay_steps": 30000,
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"scheduler_decay_lr": 2.5e-06,
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"checkpoint_path": "None",
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"padding_side": "right",
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"precision": "bfloat16",
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"grad_clip_norm": 1.0,
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"relaxed_action_decoding": true
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}
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model.safetensors
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:cf1b5a80f4e2f0f18cf317e375fb91bc74d971323f5f15e2c0a4cee45baae8f3
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size 5846765760
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