config.json

{
    "type": "custom_pi0",
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    "input_features": {},
    "output_features": {},
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": true,
    "repo_id": null,
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": "lerobot/pi0_base",
    "paligemma_variant": "gemma_2b",
    "action_expert_variant": "gemma_300m",
    "dtype": "bfloat16",
    "image_keys": [
        "observation.images.side",
        "observation.images.wrist_left",
        "observation.images.wrist_right"
    ],
    "action_derivation_implementation": "ext__delta__osc__rotvec",
    "state_derivation_implementation": "ur_default",
    "normalization_stats": {
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    "action_dim": 7,
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    "max_action_dim": 32,
    "num_inference_steps": 10,
    "time_sampling_beta_alpha": 1.5,
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    "time_sampling_scale": 0.999,
    "time_sampling_offset": 0.001,
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    "max_period": 4.0,
    "rtc_config": null,
    "image_resolution": [
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    "gradient_checkpointing": true,
    "compile_model": true,
    "compile_mode": "max-autotune",
    "freeze_vision_encoder": false,
    "train_expert_only": false,
    "optimizer_lr": 2.5e-05,
    "optimizer_betas": [
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    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 0.01,
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    "scheduler_warmup_steps": 1000,
    "scheduler_decay_steps": 30000,
    "scheduler_decay_lr": 2.5e-06,
    "tokenizer_max_length": 48
}