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LeRobot
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MINT-libero / config.json
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{
"type": "mint",
"n_obs_steps": 1,
"input_features": {
"observation.images.image": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.images.image2": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.state": {
"type": "STATE",
"shape": [
8
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
7
]
}
},
"device": "cuda",
"use_amp": false,
"push_to_hub": true,
"repo_id": "mint",
"private": null,
"tags": null,
"license": null,
"pretrained_path": "lerobot/pi05_base",
"paligemma_variant": "gemma_2b",
"action_expert_variant": "gemma_300m",
"train_expert_only": false,
"dtype": "bfloat16",
"chunk_size": 16,
"n_action_steps": 1,
"label_smooth": 0.0,
"max_state_dim": 32,
"max_action_dim": 7,
"codebook_size": 512,
"codebook_dim": 32,
"ch": 48,
"ch_mult": [
2,
4,
8
],
"patch_nums": [
1,
2,
4
],
"znorm": true,
"quant_conv_ks": 3,
"quant_resi": 0.5,
"share_quant_resi": 0,
"patchwise": {
"enable": true,
"d_embed": 8,
"grouped_depth": 2,
"norm": "layer"
},
"vqvae_name_or_path": "",
"image_resolution": [
224,
224
],
"empty_cameras": 0,
"tokenizer_max_length": 200,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "QUANTILES",
"ACTION": "IDENTITY"
},
"gradient_checkpointing": true,
"compile_model": false,
"compile_mode": "max-autotune",
"optimizer_lr": 0.00025,
"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-05
}