config.json

{
  "action_dim": 32,
  "chunk_size": 50,
  "image_aspect_ratio": "pad",
  "mm_hidden_size": 1152,
  "mm_projector_lr": null,
  "mm_projector_type": "linear",
  "model_type": "dexbotic_pi0",
  "tokenizer_model_max_length": 2048,
  "processor_config": "google/siglip-so400m-patch14-224",
  "tokenizer_padding_side": "right",
  "tune_mm_mlp_adapter": false,
  "unfreeze_vision_tower": false,
  "use_cache": false,
  "use_mm_proj": true,
  "vm_loss_enable": false,
  "assistant_token_number": -1,
  "llm_config": {
    "model_type": "gemma",
    "bos_token_id": 2,
    "eos_token_id": 1,
    "attention_dropout": 0.0,
    "attention_bias": false,
    "head_dim": 256,
    "image_token_len": 256,
    "initializer_range": 0.02,
    "intermediate_size": 16384,
    "max_position_embeddings": 8192,
    "hidden_act": "gelu_pytorch_tanh",
    "hidden_activation": null,
    "hidden_size": 2048,
    "num_attention_heads": 8,
    "num_hidden_layers": 18,
    "num_key_value_heads": 1,
    "pad_token_id": 0,
    "rms_norm_eps": 1e-06,
    "rope_scaling": null,
    "rope_theta": 10000.0,
    "torch_dtype": "float32",
    "vocab_size": 257152
  },
  "vision_config": {
    "vision_use_head": false,
    "hidden_size": 1152,
    "intermediate_size": 4304,
    "model_type": "siglip_vision_model",
    "hidden_act": "gelu_fast",
    "num_attention_heads": 16,
    "num_hidden_layers": 27,
    "patch_size": 14
  },
  "action_config": {
    "attention_bias": false,
    "attention_dropout": 0.0,
    "bos_token_id": 2,
    "eos_token_id": 1,
    "head_dim": 256,
    "hidden_act": "gelu_pytorch_tanh",
    "hidden_size": 1024,
    "initializer_range": 0.02,
    "intermediate_size": 4096,
    "max_position_embeddings": 8192,
    "model_type": "gemma",
    "num_attention_heads": 8,
    "num_hidden_layers": 18,
    "num_key_value_heads": 1,
    "pad_token_id": 0,
    "rms_norm_eps": 1e-06,
    "rope_scaling": null,
    "rope_theta": 10000.0,
    "torch_dtype": "float32",
    "transformers_version": "4.38.0.dev0",
    "use_cache": true,
    "vocab_size": 256000
  }
}