config.json

{
    "type": "smolpi0",
    "n_obs_steps": 1,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "MEAN_STD",
        "ACTION": "MEAN_STD"
    },
    "input_features": {
        "pixel_values": {
            "type": "VISUAL",
            "shape": [
                2,
                3,
                512,
                512
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                2
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "chunk_size": 16,
    "n_action_steps": 16,
    "max_state_dim": 2,
    "max_action_dim": 2,
    "resize_imgs_with_padding": [
        512,
        512
    ],
    "empty_cameras": 0,
    "adapt_to_pi_aloha": false,
    "use_delta_joint_actions_aloha": false,
    "tokenizer_max_length": 48,
    "proj_width": 128,
    "num_steps": 10,
    "use_cache": true,
    "attention_implementation": "eager",
    "freeze_vision_encoder": true,
    "train_expert_only": false,
    "train_state_proj": true,
    "optimizer_lr": 2.5e-05,
    "optimizer_betas": [
        0.9,
        0.95
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 1e-10,
    "scheduler_warmup_steps": 1000,
    "scheduler_decay_steps": 30000,
    "scheduler_decay_lr": 2.5e-06
}