config.json

{
  "action_dim": 14,
  "action_expert_variant": "gemma_300m",
  "action_horizon": 16,
  "chunk_size": 16,
  "discrete_state_input": false,
  "freeze_vision_tower": false,
  "lora_alpha": 256,
  "lora_module": [
    "gemma_expert",
    "language_model",
    "vision_tower"
  ],
  "lora_r": 256,
  "max_action_dim": 32,
  "max_token_len": 180,
  "model_type": "openpi_policy",
  "paligemma_variant": "gemma_2b",
  "pi05": false,
  "pytorch_training_precision": "bfloat16",
  "pytorch_weight_path": "/root/.cache/openpi/openpi-assets/checkpoints/pi0_base_torch",
  "state_dim": 14,
  "transformers_version": "4.53.2"
}