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config.json

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+{
+  "type": "pi05_subtask",
+  "n_obs_steps": 1,
+  "input_features": {
+    "observation.images.base_0_rgb": {
+      "type": "VISUAL",
+      "shape": [
+        3,
+        224,
+        224
+      ]
+    },
+    "observation.images.left_wrist_0_rgb": {
+      "type": "VISUAL",
+      "shape": [
+        3,
+        224,
+        224
+      ]
+    },
+    "observation.images.right_wrist_0_rgb": {
+      "type": "VISUAL",
+      "shape": [
+        3,
+        224,
+        224
+      ]
+    },
+    "observation.state": {
+      "type": "STATE",
+      "shape": [
+        32
+      ]
+    }
+  },
+  "output_features": {
+    "action": {
+      "type": "ACTION",
+      "shape": [
+        32
+      ]
+    }
+  },
+  "device": "mps",
+  "use_amp": false,
+  "push_to_hub": true,
+  "repo_id": null,
+  "private": null,
+  "tags": null,
+  "license": null,
+  "paligemma_variant": "gemma_2b",
+  "action_expert_variant": "gemma_300m",
+  "dtype": "float32",
+  "chunk_size": 50,
+  "n_action_steps": 50,
+  "max_action_dim": 32,
+  "max_state_dim": 32,
+  "num_inference_steps": 10,
+  "time_sampling_beta_alpha": 1.5,
+  "time_sampling_beta_beta": 1.0,
+  "min_period": 0.004,
+  "max_period": 4.0,
+  "image_resolution": [
+    224,
+    224
+  ],
+  "gradient_checkpointing": false,
+  "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": 1000,
+  "scheduler_decay_steps": 30000,
+  "scheduler_decay_lr": 2.5e-06,
+  "tokenizer_max_length": 200
+}

model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0eb11ca9587678c1d2ef8cf32807c29f8ce53a2bfdfc1aa4a4c96f16fca59b0f
+size 14467165872

policy_postprocessor.json

@@ -0,0 +1,30 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {},
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      }
+    },
+    {
+      "registry_name": "absolute_actions_processor",
+      "config": {
+        "enabled": false
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

policy_preprocessor.json

@@ -0,0 +1,53 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "relative_actions_processor",
+      "config": {
+        "enabled": false,
+        "exclude_joints": [
+          "gripper"
+        ],
+        "action_names": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {},
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      }
+    },
+    {
+      "registry_name": "pi05_subtask_tokenize_processor_step",
+      "config": {
+        "tokenizer_name": "google/paligemma-3b-pt-224",
+        "max_length": 200,
+        "task_key": "task",
+        "subtask_key": "subtask"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}