| { |
| "type": "pi052", |
| "n_obs_steps": 1, |
| "input_features": { |
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| "type": "VISUAL", |
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| 256 |
| ] |
| }, |
| "observation.images.robot0_agentview_right": { |
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| ] |
| }, |
| "observation.images.robot0_eye_in_hand": { |
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| } |
| }, |
| "output_features": { |
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| }, |
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| "tags": null, |
| "license": null, |
| "pretrained_path": "lerobot/pi05_base", |
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| "relative_exclude_joints": [ |
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| "rtc_config": null, |
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| "tokenizer_max_length": 128, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "QUANTILES", |
| "ACTION": "QUANTILES" |
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| "scheduler_decay_lr": 2.5e-06, |
| "recipe_path": "recipes/subtask_joint.yaml", |
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| "joint_subtask_conditioning": true, |
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| "fast_tokenizer_cache_dir": "~/.cache/lerobot/fast_tokenizers", |
| "fast_tokenizer_fit_samples": 8192, |
| "knowledge_insulation": true, |
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| "use_flashrt_fp8_mlp": false, |
| "optimizer_foreach": false, |
| "optimizer_fused": true |
| } |
