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Pi0_GoogleRobot_meanstd

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Pi0_GoogleRobot_meanstd
File size: 1,096 Bytes 
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{
  "adapt_to_pi_aloha": false,
  "architectures": [
    "PI0Policy"
  ],
  "attention_implementation": "eager",
  "attn_implementation": null,
  "chunk_size": 50,
  "device": "cuda",
  "empty_cameras": 0,
  "freeze_vision_encoder": true,
  "input_features": {},
  "max_action_dim": 32,
  "max_state_dim": 32,
  "model_type": "pi0",
  "n_action_steps": 50,
  "n_obs_steps": 1,
  "normalization_mapping": {
    "ACTION": "MEAN_STD",
    "STATE": "MEAN_STD",
    "VISUAL": "IDENTITY"
  },
  "num_steps": 10,
  "optimizer_betas": [
    0.9,
    0.95
  ],
  "optimizer_eps": 1e-08,
  "optimizer_lr": 2.5e-05,
  "optimizer_weight_decay": 1e-10,
  "output_features": {},
  "proj_width": 1024,
  "resize_imgs_with_padding": [
    224,
    224
  ],
  "scheduler_decay_lr": 2.5e-06,
  "scheduler_decay_steps": 30000,
  "scheduler_warmup_steps": 1000,
  "tokenizer_max_length": 48,
  "torch_dtype": "bfloat16",
  "train_expert_only": false,
  "train_state_proj": true,
  "transformers_version": "4.51.3",
  "type": "pi0",
  "use_amp": false,
  "use_cache": true,
  "use_delta_joint_actions_aloha": false
}