config.json

{
    "type": "pi0",
    "n_obs_steps": 1,
    "input_features": {},
    "output_features": {},
    "device": "cpu",
    "use_amp": false,
    "push_to_hub": true,
    "repo_id": null,
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "paligemma_variant": "gemma_2b",
    "action_expert_variant": "gemma_300m",
    "dtype": "float32",
    "chunk_size": 50,
    "n_action_steps": 50,
    "max_state_dim": 75,
    "max_action_dim": 75,
    "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
    ],
    "empty_cameras": 0,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "MEAN_STD",
        "ACTION": "MEAN_STD"
    },
    "gradient_checkpointing": false,
    "compile_model": false,
    "compile_mode": "max-autotune",
    "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": 72
}