model_architecture_config.json

{
  "model_family": "pi05",
  "framework": "pytorch",
  "dtype": "bfloat16",
  "paligemma_variant": "gemma_2b",
  "action_expert_variant": "gemma_300m",
  "action_dim": 32,
  "action_horizon": 10,
  "max_token_len": 48,
  "pi05": true,
  "discrete_state_input": false,
  "pose_enc_type": "null",
  "ray_enc_type": false,
  "view_enc_type": false,
  "cross_view": {
    "type": "none",
    "aa_order": null,
    "prope_layer_idx": null
  },
  "disable_geometric_augs": true,
  "action_loss_weight": 1.0,
  "aux_point_head": {
    "enabled": false,
    "loss_weight": 0.0,
    "loss_type": null,
    "conf_weight_mode": null,
    "conf_threshold": null,
    "output_resolution": null
  },
  "point_targets": {
    "type": "none",
    "gt_ratio": 0.0,
    "cams": []
  },
  "ray_embed_pi3x_init_path": null,
  "ray_embed_pi3x_init_scale": 1.0
}