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pi0

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pi0
File size: 984 Bytes 
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{
    "type": "pi0",
    "n_obs_steps": 1,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "MEAN_STD",
        "ACTION": "MEAN_STD"
    },
    "input_features": {},
    "output_features": {},
    "chunk_size": 50,
    "n_action_steps": 50,
    "max_state_dim": 32,
    "max_action_dim": 32,
    "resize_imgs_with_padding": [
        224,
        224
    ],
    "empty_cameras": 0,
    "adapt_to_pi_aloha": false,
    "use_delta_joint_actions_aloha": false,
    "tokenizer_max_length": 48,
    "proj_width": 1024,
    "num_steps": 10,
    "use_cache": true,
    "attention_implementation": "eager",
    "freeze_vision_encoder": true,
    "train_expert_only": false,
    "train_state_proj": true,
    "optimizer_lr": 2.5e-05,
    "optimizer_betas": [
        0.9,
        0.95
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 1e-10,
    "scheduler_warmup_steps": 1000,
    "scheduler_decay_steps": 30000,
    "scheduler_decay_lr": 2.5e-06
}