config.json

{
    "type": "pi0",
    "n_obs_steps": 1,
    "input_features": {},
    "output_features": {},
    "device": "cpu",
    "use_amp": false,
    "chunk_size": 50,
    "n_action_steps": 50,
    "max_state_dim": 75,
    "max_action_dim": 75,
    "resize_imgs_with_padding": [
        224,
        224
    ],
    "empty_cameras": 0,
    "adapt_to_pi_aloha": false,
    "use_delta_joint_actions_aloha": false,
    "tokenizer_max_length": 72,
    "proj_width": 768,
    "num_steps": 10,
    "use_cache": true,
    "attention_implementation": "flex",
    "freeze_vision_encoder": false,
    "train_expert_only": false,
    "train_state_proj": true
}