Hugging Face's logo

AdilZtn
/
pi0_pipeline

Robotics
LeRobot
Safetensors
pi0
Model card Files
xet
Community
2
AdilZtn commited on
Commit
1d85058
·
verified ·
1 Parent(s): e25761f

Update policy_preprocessor.json

Browse files
Files changed (1) hide show
  1. policy_preprocessor.json +43 -79
policy_preprocessor.json CHANGED
@@ -1,85 +1,49 @@
1
  {
2
- "type": "pi0",
3
- "n_obs_steps": 1,
4
- "input_features": {
5
- "observation.state": {
6
- "type": "STATE",
7
- "shape": [
8
- 6
9
- ]
10
  },
11
- "observation.images.camera1": {
12
- "type": "VISUAL",
13
- "shape": [
14
- 3,
15
- 256,
16
- 256
17
- ]
18
  },
19
- "observation.images.camera2": {
20
- "type": "VISUAL",
21
- "shape": [
22
- 3,
23
- 256,
24
- 256
25
- ]
26
  },
27
- "observation.images.camera3": {
28
- "type": "VISUAL",
29
- "shape": [
30
- 3,
31
- 256,
32
- 256
33
- ]
34
- }
35
- },
36
- "output_features": {
37
- "action": {
38
- "type": "ACTION",
39
- "shape": [
40
- 6
41
- ]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
42
  }
43
- },
44
- "device": "cuda",
45
- "use_amp": false,
46
- "push_to_hub": true,
47
- "repo_id": null,
48
- "private": null,
49
- "tags": null,
50
- "license": null,
51
- "chunk_size": 50,
52
- "n_action_steps": 50,
53
- "normalization_mapping": {
54
- "VISUAL": "IDENTITY",
55
- "STATE": "MEAN_STD",
56
- "ACTION": "MEAN_STD"
57
- },
58
- "max_state_dim": 32,
59
- "max_action_dim": 32,
60
- "resize_imgs_with_padding": [
61
- 224,
62
- 224
63
- ],
64
- "empty_cameras": 0,
65
- "adapt_to_pi_aloha": false,
66
- "use_delta_joint_actions_aloha": false,
67
- "tokenizer_max_length": 48,
68
- "proj_width": 1024,
69
- "num_steps": 10,
70
- "use_cache": true,
71
- "attention_implementation": "eager",
72
- "freeze_vision_encoder": true,
73
- "train_expert_only": false,
74
- "train_state_proj": true,
75
- "optimizer_lr": 0.000025,
76
- "optimizer_betas": [
77
- 0.9,
78
- 0.95
79
- ],
80
- "optimizer_eps": 1e-8,
81
- "optimizer_weight_decay": 1e-10,
82
- "scheduler_warmup_steps": 1000,
83
- "scheduler_decay_steps": 30000,
84
- "scheduler_decay_lr": 0.0000025
85
  }
 
1
  {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
 
9
  },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
 
 
 
 
13
  },
14
+ {
15
+ "registry_name": "pi0_new_line_processor",
16
+ "config": {}
 
 
 
 
17
  },
18
+ {
19
+ "registry_name": "tokenizer_processor",
20
+ "config": {
21
+ "max_length": 48,
22
+ "task_key": "task",
23
+ "padding_side": "right",
24
+ "padding": "max_length",
25
+ "truncation": true,
26
+ "tokenizer_name": "google/paligemma-3b-pt-224"
27
+ }
28
+ },
29
+ {
30
+ "registry_name": "device_processor",
31
+ "config": {
32
+ "device": "cuda",
33
+ "float_dtype": null
34
+ }
35
+ },
36
+ {
37
+ "registry_name": "normalizer_processor",
38
+ "config": {
39
+ "eps": 1e-08,
40
+ "features": {},
41
+ "norm_map": {
42
+ "VISUAL": "IDENTITY",
43
+ "STATE": "MEAN_STD",
44
+ "ACTION": "MEAN_STD"
45
+ }
46
+ }
47
  }
48
+ ]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
49
  }