{
    "type": "pi05",
    "n_obs_steps": 1,
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                26
            ]
        },
        "observation.images.cam_left_high": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        },
        "observation.images.cam_right_high": {
            "type": "VISUAL",
            "shape": [
                3,
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                640
            ]
        },
        "observation.images.cam_left_wrist": {
            "type": "VISUAL",
            "shape": [
                3,
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                640
            ]
        },
        "observation.images.cam_right_wrist": {
            "type": "VISUAL",
            "shape": [
                3,
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                640
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
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                26
            ]
        }
    },
    "device": "musa",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": false,
    "repo_id": "your-username/your-repo-id",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": "outputs/pi05_training_001_brainco/checkpoints/last/pretrained_model",
    "paligemma_variant": "gemma_2b",
    "action_expert_variant": "gemma_300m",
    "dtype": "bfloat16",
    "chunk_size": 50,
    "n_action_steps": 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,
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    "rtc_config": null,
    "image_resolution": [
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    "empty_cameras": 0,
    "tokenizer_max_length": 200,
    "normalization_mapping": {
        "ACTION": "MEAN_STD",
        "STATE": "MEAN_STD",
        "VISUAL": "IDENTITY"
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    "gradient_checkpointing": true,
    "compile_model": false,
    "compile_mode": "max-autotune",
    "freeze_vision_encoder": false,
    "train_expert_only": false,
    "optimizer_lr": 8e-05,
    "optimizer_betas": [
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    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 0.01,
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    "scheduler_decay_steps": 20000,
    "scheduler_decay_lr": 2e-05
}