| { | |
| "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 | |
| } |