{
  "type": "pi05",
  "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
      ]
    },
    "observation.images.empty_camera_0": {
      "type": "VISUAL",
      "shape": [
        3,
        224,
        224
      ]
    }
  },
  "output_features": {
    "action": {
      "type": "ACTION",
      "shape": [
        7
      ]
    }
  },
  "device": "cuda",
  "use_amp": false,
  "use_peft": false,
  "push_to_hub": false,
  "repo_id": "GSR/PI05-LIBERO",
  "private": null,
  "tags": null,
  "license": null,
  "pretrained_path": null,
  "paligemma_variant": "gemma_2b",
  "action_expert_variant": "gemma_300m",
  "dtype": "bfloat16",
  "chunk_size": 50,
  "n_action_steps": 50,
  "max_state_dim": 32,
  "max_action_dim": 32,
  "num_inference_steps": 10,
  "time_sampling_beta_alpha": 1.5,
  "time_sampling_beta_beta": 1.0,
  "time_sampling_scale": 0.999,
  "time_sampling_offset": 0.001,
  "min_period": 0.004,
  "max_period": 4.0,
  "use_relative_actions": false,
  "relative_exclude_joints": [
    "gripper"
  ],
  "action_feature_names": [
    "actions"
  ],
  "rtc_config": null,
  "image_resolution": [
    224,
    224
  ],
  "empty_cameras": 1,
  "tokenizer_max_length": 64,
  "normalization_mapping": {
    "ACTION": "MEAN_STD",
    "STATE": "MEAN_STD",
    "VISUAL": "IDENTITY"
  },
  "gradient_checkpointing": true,
  "compile_model": false,
  "compile_mode": "max-autotune",
  "freeze_vision_encoder": true,
  "train_expert_only": true,
  "pi05_t5_bottleneck": true,
  "pi05_neutral_prompt": "perform the task",
  "pi05_t5_model": "google-t5/t5-large",
  "pi05_t5_max_length": 16,
  "pi05_paligemma_tokenizer": "google/paligemma-3b-pt-224",
  "pi05_reinit_binding_after_load": true,
  "pi05_t5_cross_attention": false,
  "pi05_t5_cross_attention_gate_init": 0.05,
  "pi05_t5_cross_attention_strict_vla_adapter": false,
  "pi05_ground_t5_in_native_slots": true,
  "pi05_ground_t5_preserve_native_prompt": true,
  "pi05_native_grounder_num_heads": 8,
  "pi05_native_grounder_gate_init": 1.0,
  "pi05_t5_eval_mode": "normal",
  "pi05_wrong_t5_text": "turn on the stove",
  "pi05_t5_preserve_native_prompt": false,
  "pi05_motor_preserving_distillation": false,
  "pi05_motor_distillation_weight": 1.0,
  "pi05_motor_preserving_curriculum": false,
  "pi05_motor_curriculum_start_step": 0,
  "pi05_motor_curriculum_end_step": 3500,
  "pi05_motor_curriculum_flow_weight": 1.0,
  "pi05_motor_rollout_distillation_weight": 1.0,
  "pi05_motor_rollout_distillation_every": 1,
  "pi05_motor_rollout_distillation_batch_size": 1,
  "pi05_interface_matching": false,
  "pi05_interface_loss_weight": 1.0,
  "pi05_interface_velocity_weight": 0.0,
  "pi05_native_soft_prefix": false,
  "pi05_native_soft_prefix_tokens": 32,
  "pi05_native_soft_prefix_layers": 2,
  "pi05_native_soft_prefix_heads": 16,
  "pi05_native_soft_prefix_mode": "append",
  "pi05_native_soft_prefix_start_index": 3,
  "pi05_native_soft_prefix_matching": false,
  "pi05_native_soft_prefix_interface_weight": 1.0,
  "pi05_native_soft_prefix_velocity_weight": 0.1,
  "pi05_native_soft_prefix_flow_weight": 0.0,
  "pi05_native_soft_prefix_embedding_weight": 0.0,
  "pi05_train_paraphrase_distillation": false,
  "pi05_train_paraphrases": "",
  "pi05_eval_paraphrases": "",
  "pi05_train_canonical_probability": 0.25,
  "pi05_translator_consistency_weight": 0.0,
  "pi05_native_soft_prefix_inference_blend": 1.0,
  "pi05_native_soft_prefix_embedding_blend": 1.0,
  "pi05_native_soft_prefix_training_blend_min": 1.0,
  "pi05_native_soft_prefix_training_blend_max": 1.0,
  "pi05_native_soft_prefix_geometry_preserving": false,
  "pi05_native_soft_prefix_sentence_bottleneck": false,
  "pi05_native_soft_prefix_zero_init": false,
  "pi05_native_kv_transplant": false,
  "pi05_native_kv_matching": false,
  "pi05_native_kv_neutral_conditioning": false,
  "pi05_native_kv_visual_conditioning": false,
  "pi05_native_kv_visual_summary_tokens": 8,
  "pi05_native_kv_resampler_dim": 512,
  "pi05_native_kv_resampler_layers": 2,
  "pi05_native_kv_resampler_heads": 8,
  "pi05_native_kv_weight": 1.0,
  "pi05_native_kv_interface_weight": 0.1,
  "pi05_native_kv_velocity_weight": 0.1,
  "optimizer_lr": 0.0001,
  "optimizer_betas": [
    0.9,
    0.95
  ],
  "optimizer_eps": 1e-08,
  "optimizer_weight_decay": 0.01,
  "optimizer_grad_clip_norm": 1.0,
  "scheduler_warmup_steps": 125,
  "scheduler_decay_steps": 6250,
  "scheduler_decay_lr": 5e-06,
  "gsr_enable": true,
  "gsr_preserve_native_language": true,
  "gsr_t5_model": "google-t5/t5-large",
  "gsr_t5_max_length": 16,
  "gsr_paligemma_tokenizer": "google/paligemma-3b-pt-224",
  "gsr_reinitialize_action_binding": true,
  "gsr_grounder_num_heads": 8,
  "gsr_grounder_gate_init": 1.0
}