{
    "type": "pi0",
    "n_obs_steps": 1,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "IDENTITY",
        "ACTION": "IDENTITY"
    },
    "input_features": {
        "observation.images.top": {
            "type": "VISUAL",
            "shape": [
                3,
                224,
                224
            ]
        },
        "observation.state": {
            "type": "STATE",
            "shape": [
                7
            ]
        }
    },
    "output_features": {
        "action": {
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            ]
        }
    },
    "device": "cpu",
    "use_amp": true,
    "chunk_size": 4,
    "n_action_steps": 4,
    "max_state_dim": 7,
    "max_action_dim": 7,
    "resize_imgs_with_padding": [
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    ],
    "empty_cameras": 0,
    "adapt_to_pi_aloha": false,
    "use_delta_joint_actions_aloha": false,
    "tokenizer_max_length": 72,
    "proj_width": 1024,
    "num_steps": 10,
    "use_cache": true,
    "attention_implementation": "eager",
    "freeze_vision_encoder": false,
    "train_expert_only": false,
    "train_state_proj": true,
    "paligemma_pretrained_path": "google/paligemma-3b-pt-224",
    "optimizer_lr": 5e-05,
    "optimizer_betas": [
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        0.999
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 0.0,
    "scheduler_warmup_steps": 200,
    "scheduler_decay_steps": 30000,
    "scheduler_decay_lr": 2.5e-06
}