config.json

{
    "type": "pi0_ours",
    "n_obs_steps": 1,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "IDENTITY",
        "ACTION": "IDENTITY"
    },
    "input_features": {},
    "output_features": {},
    "chunk_size": 50,
    "n_action_steps": 50,
    "max_state_dim": 32,
    "max_action_dim": 32,
    "resize_imgs_with_padding": [
        224,
        224
    ],
    "empty_cameras": 0,
    "tokenizer_max_length": 512,
    "tokenizer_model_path": "google/paligemma-3b-pt-224",
    "proj_width": 1024,
    "num_steps": 10,
    "use_cache": true,
    "attention_implementation": "eager",
    "pi05": false,
    "is_knowledge_insulation": false,
    "add_extra_token": true,
    "add_image_token": true,
    "add_prior": true,
    "freeze_vision_encoder": false,
    "train_expert_only": false,
    "train_state_proj": true,
    "optimizer_lr": 5e-05,
    "optimizer_betas": [
        0.9,
        0.95
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 1e-10,
    "scheduler_warmup_steps": 16000,
    "scheduler_decay_steps": 1280000,
    "scheduler_decay_lr": 5e-06,
    "vis_attn": true,
    "skip_init_weights": false,
    "device": "cpu"
}