{
    "type": "custom_pi0",
    "n_obs_steps": 1,
    "input_features": {},
    "output_features": {},
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": true,
    "repo_id": null,
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": "lerobot/pi0_base",
    "paligemma_variant": "gemma_2b",
    "action_expert_variant": "gemma_300m",
    "dtype": "bfloat16",
    "image_keys": [
        "robot0_robotview_image",
        "robot0_eye_in_hand_image"
    ],
    "action_derivation_implementation": "ext__delta__osc__rotvec",
    "state_derivation_implementation": "rs_default",
    "normalization_stats": {
        "observation.state": {
            "mean": [
                0.011385115435902654,
                -0.11066487852350426,
                0.9275649457826504,
                0.7494435731164166,
                1.069831168567631,
                0.06506713687963374,
                0.025805657331220012,
                -0.02590401388618914,
                0.01803541620692451,
                -0.11212986440453838,
                0.9280827677356757,
                0.6500980088799709,
                0.8341998775202242,
                0.05805249210678411,
                0.08762804097311136
            ],
            "std": [
                0.1364878357112203,
                0.06521976306006763,
                0.05895699006536035,
                1.6648833415711914,
                2.2236785714685396,
                0.13710193958271333,
                0.011328591949326798,
                0.011394605880609308,
                0.13924010834100095,
                0.06349817660760358,
                0.06014770884144378,
                1.694195263111645,
                2.3261636263757737,
                0.14145846058575146,
                0.9961632294015995
            ]
        },
        "action": {
            "mean": [
                0.0014429540247476425,
                5.855477872899049e-05,
                0.00010094234202338543,
                -5.514898634610806e-05,
                -1.1709633593695834e-05,
                0.0023358867284308323,
                0.08610835467349552
            ],
            "std": [
                0.0033159534044946504,
                0.0020661345832887618,
                0.003004563348536115,
                0.012571091883774563,
                0.012866583562733206,
                0.026665803880115392,
                0.9962859772258239
            ]
        }
    },
    "action_dim": 7,
    "chunk_size": 50,
    "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,
    "min_period": 0.004,
    "max_period": 4.0,
    "rtc_config": null,
    "image_resolution": [
        224,
        224
    ],
    "gradient_checkpointing": true,
    "compile_model": true,
    "compile_mode": "max-autotune",
    "freeze_vision_encoder": false,
    "train_expert_only": false,
    "optimizer_lr": 2.5e-05,
    "optimizer_betas": [
        0.9,
        0.95
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 0.01,
    "optimizer_grad_clip_norm": 1.0,
    "scheduler_warmup_steps": 1000,
    "scheduler_decay_steps": 30000,
    "scheduler_decay_lr": 2.5e-06,
    "tokenizer_max_length": 48
}