model_architecture_config.json

{
  "model_family": "pi0",
  "framework": "pytorch",
  "dtype": "bfloat16",
  "paligemma_variant": "gemma_2b",
  "action_expert_variant": "gemma_300m",
  "action_dim": 32,
  "action_horizon": 50,
  "max_token_len": 48,
  "pi05": false,
  "discrete_state_input": false,
  "pose_enc_type": "null",
  "ray_enc_type": false,
  "view_enc_type": false,
  "cross_view": {
    "type": "standard",
    "aa_order": "fg"
  },
  "disable_geometric_augs": true,
  "action_loss_weight": 1.0,
  "aux_point_head": {
    "enabled": true,
    "loss_weight": 0.05,
    "conf_weight_mode": "hard",
    "conf_threshold": 0.1,
    "output_resolution": 224
  },
  "ray_embed_pi3x_init_path": null,
  "ray_embed_pi3x_init_scale": 1.0
}