| { |
| "type": "pi0", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [6] |
| }, |
| "observation.images.base_0_rgb": { |
| "type": "VISUAL", |
| "shape": [3, 480, 640] |
| }, |
| "observation.images.right_wrist_0_rgb": { |
| "type": "VISUAL", |
| "shape": [3, 480, 640] |
| }, |
| "observation.images.left_wrist_0_rgb": { |
| "type": "VISUAL", |
| "shape": [3, 480, 640] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [6] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "paligemma_variant": "gemma_2b", |
| "action_expert_variant": "gemma_300m", |
| "dtype": "bfloat16", |
| "chunk_size": 30, |
| "n_action_steps": 30, |
| "max_state_dim": 32, |
| "max_action_dim": 32, |
| "num_inference_steps": 10, |
| "time_sampling_beta_alpha": 1.5, |
| "time_sampling_beta_beta": 1.0, |
| "time_sampling_scale": 0.999, |
| "time_sampling_offset": 0.001, |
| "image_resolution": [224, 224], |
| "empty_cameras": 0, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| } |
| } |
