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pi0_pipeline

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pi0_pipeline
File size: 1,594 Bytes 
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{
  "type": "pi0",
  "n_obs_steps": 1,
  "input_features": {
    "observation.state": {
      "type": "STATE",
      "shape": [
        6
      ]
    },
    "observation.images.camera1": {
      "type": "VISUAL",
      "shape": [
        3,
        256,
        256
      ]
    },
    "observation.images.camera2": {
      "type": "VISUAL",
      "shape": [
        3,
        256,
        256
      ]
    },
    "observation.images.camera3": {
      "type": "VISUAL",
      "shape": [
        3,
        256,
        256
      ]
    }
  },
  "output_features": {
    "action": {
      "type": "ACTION",
      "shape": [
        6
      ]
    }
  },
  "device": "cuda",
  "use_amp": false,
  "push_to_hub": true,
  "repo_id": null,
  "private": null,
  "tags": null,
  "license": null,
  "chunk_size": 50,
  "n_action_steps": 50,
  "normalization_mapping": {
    "VISUAL": "IDENTITY",
    "STATE": "MEAN_STD",
    "ACTION": "MEAN_STD"
  },
  "max_state_dim": 32,
  "max_action_dim": 32,
  "resize_imgs_with_padding": [
    224,
    224
  ],
  "empty_cameras": 0,
  "adapt_to_pi_aloha": false,
  "use_delta_joint_actions_aloha": false,
  "tokenizer_max_length": 48,
  "proj_width": 1024,
  "num_steps": 10,
  "use_cache": true,
  "attention_implementation": "eager",
  "freeze_vision_encoder": true,
  "train_expert_only": false,
  "train_state_proj": true,
  "optimizer_lr": 0.000025,
  "optimizer_betas": [
    0.9,
    0.95
  ],
  "optimizer_eps": 1e-8,
  "optimizer_weight_decay": 1e-10,
  "scheduler_warmup_steps": 1000,
  "scheduler_decay_steps": 30000,
  "scheduler_decay_lr": 0.0000025
}