| { |
| "type": "pi0_fast", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.images.front": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 512, |
| 512 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 512, |
| 512 |
| ] |
| }, |
| "observation.images.overhead": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 512, |
| 512 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": false, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": "lerobot/pi0fast-base", |
| "paligemma_variant": "gemma_2b", |
| "action_expert_variant": "gemma_300m", |
| "dtype": "bfloat16", |
| "chunk_size": 10, |
| "n_action_steps": 10, |
| "max_state_dim": 32, |
| "max_action_dim": 32, |
| "max_action_tokens": 256, |
| "rtc_config": null, |
| "image_resolution": [ |
| 224, |
| 224 |
| ], |
| "empty_cameras": 0, |
| "tokenizer_max_length": 200, |
| "text_tokenizer_name": "google/paligemma-3b-pt-224", |
| "action_tokenizer_name": "physical-intelligence/fast", |
| "temperature": 0.0, |
| "max_decoding_steps": 256, |
| "fast_skip_tokens": 128, |
| "validate_action_token_prefix": true, |
| "use_kv_cache": true, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| }, |
| "gradient_checkpointing": true, |
| "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": 400, |
| "scheduler_decay_steps": 10000, |
| "scheduler_decay_lr": 1e-05 |
| } |
