Upload PI0Policy
Browse files- config.json +150 -0
- model-00001-of-00003.safetensors +3 -0
- model-00002-of-00003.safetensors +3 -0
- model-00003-of-00003.safetensors +3 -0
- model.safetensors.index.json +0 -0
config.json
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{
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"_name_or_path": "physical-intelligence/pi0_base",
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"action_delta_indices": [
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],
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"action_feature": {
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"shape": [
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7
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],
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"type": "ACTION"
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},
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"architectures": [
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"PI0Policy"
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],
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"attention_implementation": "eager",
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"attn_implementation": null,
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"denoise_num_steps": 10,
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"empty_cameras": 0,
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"env_state_feature": null,
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"freeze_vision_encoder": true,
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"hidden_size": 1024,
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"image_features": {
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"observation.images.image": {
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"shape": [
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3,
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256,
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256
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],
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"type": "VISUAL"
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},
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"observation.images.wrist_image": {
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"shape": [
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3,
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256,
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256
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],
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"type": "VISUAL"
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}
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},
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"input_features": {
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"observation.images.image": {
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"shape": [
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3,
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256,
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],
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"type": "VISUAL"
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},
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"observation.images.wrist_image": {
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"shape": [
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3,
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256,
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],
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"type": "VISUAL"
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},
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"observation.state": {
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"shape": [
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],
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"type": "STATE"
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}
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},
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"max_action_dim": 32,
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"max_state_dim": 32,
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"model_type": "pi0",
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"n_action_steps": 50,
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"n_obs_steps": 1,
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"normalization_mapping": {
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"ACTION": "MEAN_STD",
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"STATE": "MEAN_STD",
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"VISUAL": "IDENTITY"
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},
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"observation_delta_indices": null,
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"output_features": {
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"action": {
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"shape": [
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],
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"type": "ACTION"
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}
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},
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"pretrained_path": "physical-intelligence/pi0_base",
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"resize_imgs_with_padding": [
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224,
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224
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],
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"reward_delta_indices": null,
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"robot_state_feature": {
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"shape": [
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],
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"type": "STATE"
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},
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"tokenizer_max_length": 512,
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"torch_dtype": "float32",
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"train_expert_only": false,
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"train_state_proj": true,
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"transformers_version": "4.48.1",
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"use_cache": true
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}
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model-00001-of-00003.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:ca98e81632f3dd64df720bfb2bcdffa51054e87ab20fa25d4700302285a3fe7b
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size 4952905824
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model-00002-of-00003.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:4f14851424d3ee71746df8c453619581c16a18e0bb3b2430d0d41c2ae574235c
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size 4999824600
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model-00003-of-00003.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:4b24fc248a519818a578a101ecd0a9ab3d2a0c59783d8fda96821a4372b83684
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size 4052889144
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model.safetensors.index.json
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