| { | |
| "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": "none" | |
| }, | |
| "disable_geometric_augs": true, | |
| "action_loss_weight": 1.0, | |
| "aux_point_head": { | |
| "enabled": false | |
| }, | |
| "ray_embed_pi3x_init_path": null, | |
| "ray_embed_pi3x_init_scale": 1.0 | |
| } | |