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pi0_pipeline

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AdilZtn commited on
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1 Parent(s): 1d85058

Update config.json

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Files changed (1) hide show
  1. config.json +82 -44
config.json CHANGED
@@ -1,47 +1,85 @@
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  {
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- "type": "pi0",
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- "n_obs_steps": 1,
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- "input_features": {},
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- "output_features": {},
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- "device": "cuda",
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- "use_amp": false,
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- "push_to_hub": true,
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- "repo_id": null,
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- "private": null,
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- "tags": null,
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- "license": null,
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- "chunk_size": 50,
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- "n_action_steps": 50,
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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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- "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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- "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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- "num_steps": 10,
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- "use_cache": true,
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- "attention_implementation": "eager",
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- "freeze_vision_encoder": true,
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- "train_expert_only": false,
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- "train_state_proj": true,
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- "optimizer_lr": 2.5e-05,
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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-10,
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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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  }
 
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  {
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+ "type": "pi0",
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+ "n_obs_steps": 1,
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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.camera1": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 3,
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+ 256,
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+ 256
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+ ]
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+ },
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+ "observation.images.camera2": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 3,
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+ 256,
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+ 256
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+ ]
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+ },
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+ "observation.images.camera3": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 3,
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+ 256,
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+ 256
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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": "cuda",
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+ "use_amp": false,
46
+ "push_to_hub": true,
47
+ "repo_id": null,
48
+ "private": null,
49
+ "tags": null,
50
+ "license": null,
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+ "chunk_size": 50,
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+ "n_action_steps": 50,
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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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+ "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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+ "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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+ "num_steps": 10,
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+ "use_cache": true,
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+ "attention_implementation": "eager",
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+ "freeze_vision_encoder": true,
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+ "train_expert_only": false,
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+ "train_state_proj": true,
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+ "optimizer_lr": 0.000025,
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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-8,
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+ "optimizer_weight_decay": 1e-10,
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+ "scheduler_warmup_steps": 1000,
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+ "scheduler_decay_steps": 30000,
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+ "scheduler_decay_lr": 0.0000025
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  }