config.json

{
  "type": "pi05",
  "paligemma_variant": "gemma_2b",
  "action_expert_variant": "gemma_300m",
  "chunk_size": 10,
  "input_features": {
    "observation.images.left": {
      "shape": [
        3,
        224,
        224
      ],
      "type": "VISUAL"
    },
    "observation.images.center": {
      "shape": [
        3,
        224,
        224
      ],
      "type": "VISUAL"
    },
    "observation.images.right": {
      "shape": [
        3,
        224,
        224
      ],
      "type": "VISUAL"
    },
    "observation.state": {
      "shape": [
        7
      ],
      "type": "STATE"
    }
  },
  "output_features": {
    "action": {
      "shape": [
        7
      ],
      "type": "ACTION"
    }
  },
  "norm_stats": {}
}