config.json

{
  "_name_or_path": "physical-intelligence/pi0_base",
  "action_delta_indices": [
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  "action_feature": {
    "shape": [
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    ],
    "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": [
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        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": [
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        256,
        256
      ],
      "type": "VISUAL"
    },
    "observation.state": {
      "shape": [
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      ],
      "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": [
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      "type": "ACTION"
    }
  },
  "pretrained_path": "physical-intelligence/pi0_base",
  "resize_imgs_with_padding": [
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    224
  ],
  "reward_delta_indices": null,
  "robot_state_feature": {
    "shape": [
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    ],
    "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
}