update config

config.json

@@ -2,34 +2,26 @@
     "type": "pi05",
     "n_obs_steps": 1,
     "input_features": {
-        "observation.images.base_0_rgb": {
+        "observation.images.image": {
             "type": "VISUAL",
             "shape": [
                 3,
-                224,
-                224
+                256,
+                256
             ]
         },
-        "observation.images.left_wrist_0_rgb": {
+        "observation.images.image2": {
             "type": "VISUAL",
             "shape": [
                 3,
-                224,
-                224
-            ]
-        },
-        "observation.images.right_wrist_0_rgb": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                224,
-                224
+                256,
+                256
             ]
         },
         "observation.state": {
             "type": "STATE",
             "shape": [
-                32
+                8
             ]
         }
     },
@@ -37,10 +29,11 @@
         "action": {
             "type": "ACTION",
             "shape": [
-                32
+                7
             ]
         }
     },
+    "empty_cameras": 1,
     "device": "mps",
     "use_amp": false,
     "push_to_hub": true,
@@ -52,7 +45,7 @@
     "action_expert_variant": "gemma_300m",
     "dtype": "bfloat16",
     "chunk_size": 50,
-    "n_action_steps": 50,
+    "n_action_steps": 10,
     "max_action_dim": 32,
     "max_state_dim": 32,
     "num_inference_steps": 10,
@@ -79,4 +72,4 @@
     "scheduler_decay_steps": 30000,
     "scheduler_decay_lr": 2.5e-06,
     "tokenizer_max_length": 200
-}
+}