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": "prope",
  "ray_enc_type": true,
  "view_enc_type": false,
  "cross_view": {
    "type": "standard",
    "aa_order": "fg",
    "prope_layer_idx": [
      0
    ]
  },
  "disable_geometric_augs": true,
  "action_loss_weight": 1.0,
  "aux_point_head": {
    "enabled": true,
    "loss_weight": 0.05,
    "loss_type": "legacy_conf_mse",
    "conf_weight_mode": "hard",
    "conf_threshold": 0.1,
    "output_resolution": 224
  },
  "point_targets": {
    "type": "gt",
    "gt_ratio": 1.0,
    "cams": [
      [
        "base",
        "base"
      ],
      [
        "left_wrist",
        "left_wrist"
      ]
    ]
  },
  "ray_embed_pi3x_init_path": null,
  "ray_embed_pi3x_init_scale": 1.0
}