Robotics
LeRobot
Safetensors
pi0_fast
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{
"dataset": {
"repo_id": "csjmacmi/piperx_pick_and_place_v1_4",
"root": null,
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}
},
"revision": "main",
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"env": null,
"policy": {
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"input_features": {
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},
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},
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},
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}
},
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}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": "csjmacmi/pi0_fast-pick-and-place-v1_4-modal",
"private": null,
"tags": null,
"license": null,
"pretrained_path": "lerobot/pi0fast-base",
"paligemma_variant": "gemma_2b",
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"dtype": "bfloat16",
"chunk_size": 50,
"n_action_steps": 50,
"max_state_dim": 32,
"max_action_dim": 32,
"max_action_tokens": 256,
"rtc_config": null,
"image_resolution": [
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],
"empty_cameras": 0,
"tokenizer_max_length": 200,
"text_tokenizer_name": "google/paligemma-3b-pt-224",
"action_tokenizer_name": "lerobot/fast-action-tokenizer",
"temperature": 0.0,
"max_decoding_steps": 256,
"fast_skip_tokens": 128,
"validate_action_token_prefix": true,
"use_kv_cache": true,
"normalization_mapping": {
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"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"gradient_checkpointing": true,
"compile_model": false,
"compile_mode": "max-autotune",
"optimizer_lr": 2.5e-05,
"optimizer_betas": [
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"optimizer_eps": 1e-08,
"optimizer_weight_decay": 0.01,
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"scheduler_warmup_steps": 1000,
"scheduler_decay_steps": 30000,
"scheduler_decay_lr": 2.5e-06
},
"output_dir": "/root/outputs/modal_pi0_fast_piperx_v1_4",
"job_name": "pi0_fast_piperx_modal_v1_4_ep0-300_skip51_242_247_60k",
"resume": false,
"seed": 1000,
"num_workers": 4,
"batch_size": 3,
"steps": 60000,
"eval_freq": 20000,
"log_freq": 200,
"tolerance_s": 0.04,
"save_checkpoint": true,
"save_freq": 10000,
"use_policy_training_preset": true,
"optimizer": {
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"lr": 2.5e-05,
"weight_decay": 0.01,
"grad_clip_norm": 1.0,
"betas": [
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0.95
],
"eps": 1e-08
},
"scheduler": {
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"num_warmup_steps": 1000,
"num_decay_steps": 30000,
"peak_lr": 2.5e-05,
"decay_lr": 2.5e-06
},
"eval": {
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"batch_size": 50,
"use_async_envs": false
},
"wandb": {
"enable": false,
"disable_artifact": false,
"project": "lerobot",
"entity": null,
"notes": null,
"run_id": null,
"mode": null
},
"peft": null,
"acp": {
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"indicator_field": "complementary_info.acp_indicator",
"indicator_dropout_prob": 0.0
},
"use_rabc": false,
"rabc_progress_path": null,
"rabc_kappa": 0.01,
"rabc_epsilon": 1e-06,
"rabc_head_mode": "sparse",
"rename_map": {
"observation.images.right_front": "observation.images.base_0_rgb",
"observation.images.left_wrist": "observation.images.left_wrist_0_rgb",
"observation.images.right_wrist": "observation.images.right_wrist_0_rgb"
},
"checkpoint_path": null
}