Safetensors
pi0
File size: 2,229 Bytes
a5c799a
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
{
  "_name_or_path": "physical-intelligence/pi0_base",
  "action_delta_indices": [
    0,
    1,
    2,
    3,
    4,
    5,
    6,
    7,
    8,
    9,
    10,
    11,
    12,
    13,
    14,
    15,
    16,
    17,
    18,
    19,
    20,
    21,
    22,
    23,
    24,
    25,
    26,
    27,
    28,
    29,
    30,
    31,
    32,
    33,
    34,
    35,
    36,
    37,
    38,
    39,
    40,
    41,
    42,
    43,
    44,
    45,
    46,
    47,
    48,
    49
  ],
  "action_feature": {
    "shape": [
      7
    ],
    "type": "ACTION"
  },
  "architectures": [
    "PI0Policy"
  ],
  "attention_implementation": "eager",
  "attn_implementation": null,
  "denoise_num_steps": 10,
  "empty_cameras": 0,
  "env_state_feature": null,
  "freeze_vision_encoder": true,
  "hidden_size": 1024,
  "image_features": {
    "observation.images.image": {
      "shape": [
        3,
        256,
        256
      ],
      "type": "VISUAL"
    },
    "observation.images.wrist_image": {
      "shape": [
        3,
        256,
        256
      ],
      "type": "VISUAL"
    }
  },
  "input_features": {
    "observation.images.image": {
      "shape": [
        3,
        256,
        256
      ],
      "type": "VISUAL"
    },
    "observation.images.wrist_image": {
      "shape": [
        3,
        256,
        256
      ],
      "type": "VISUAL"
    },
    "observation.state": {
      "shape": [
        8
      ],
      "type": "STATE"
    }
  },
  "max_action_dim": 32,
  "max_state_dim": 32,
  "model_type": "pi0",
  "n_action_steps": 50,
  "n_obs_steps": 1,
  "normalization_mapping": {
    "ACTION": "MEAN_STD",
    "STATE": "MEAN_STD",
    "VISUAL": "IDENTITY"
  },
  "observation_delta_indices": null,
  "output_features": {
    "action": {
      "shape": [
        7
      ],
      "type": "ACTION"
    }
  },
  "pretrained_path": "physical-intelligence/pi0_base",
  "resize_imgs_with_padding": [
    224,
    224
  ],
  "reward_delta_indices": null,
  "robot_state_feature": {
    "shape": [
      8
    ],
    "type": "STATE"
  },
  "tokenizer_max_length": 512,
  "torch_dtype": "float32",
  "train_expert_only": false,
  "train_state_proj": true,
  "transformers_version": "4.48.1",
  "use_cache": true
}