{
    "type": "pi052",
    "n_obs_steps": 1,
    "input_features": {
        "observation.images.robot0_agentview_left": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "observation.images.robot0_agentview_right": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "observation.images.robot0_eye_in_hand": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "observation.state": {
            "type": "STATE",
            "shape": [
                16
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                12
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": true,
    "repo_id": "pepijn223/pi052_robocasa_joint_flow1_30k_32gpu",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": "lerobot/pi05_base",
    "pretrained_revision": null,
    "paligemma_variant": "gemma_2b",
    "action_expert_variant": "gemma_300m",
    "dtype": "bfloat16",
    "chunk_size": 20,
    "n_action_steps": 20,
    "max_state_dim": 32,
    "max_action_dim": 32,
    "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,
    "use_relative_actions": false,
    "relative_exclude_joints": [
        "gripper"
    ],
    "action_feature_names": null,
    "rtc_config": null,
    "image_resolution": [
        224,
        224
    ],
    "empty_cameras": 0,
    "tokenizer_max_length": 128,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "QUANTILES",
        "ACTION": "QUANTILES"
    },
    "gradient_checkpointing": true,
    "compile_model": true,
    "compile_mode": "default",
    "freeze_vision_encoder": false,
    "train_expert_only": false,
    "optimizer_lr": 2.5e-05,
    "optimizer_betas": [
        0.9,
        0.95
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 1e-10,
    "optimizer_grad_clip_norm": 1.0,
    "scheduler_warmup_steps": 1000,
    "scheduler_decay_steps": 30000,
    "scheduler_decay_lr": 2.5e-06,
    "recipe_path": "recipes/subtask_joint.yaml",
    "apply_chat_template": false,
    "text_loss_weight": 1.0,
    "flow_loss_weight": 1.0,
    "unfreeze_lm_head": true,
    "plan_dropout_prob": 0.0,
    "memory_dropout_prob": 0.0,
    "subtask_dropout_prob": 0.0,
    "enable_fast_action_loss": true,
    "action_tokenizer_name": "lerobot/fast-action-tokenizer",
    "max_action_tokens": 384,
    "fast_skip_tokens": 1152,
    "fast_action_loss_weight": 1.0,
    "subtask_replan_steps": 0,
    "joint_subtask_conditioning": true,
    "auto_fit_fast_tokenizer": true,
    "fast_tokenizer_cache_dir": "~/.cache/lerobot/fast_tokenizers",
    "fast_tokenizer_fit_samples": 8192,
    "knowledge_insulation": true,
    "use_flashrt_adarms": false,
    "use_compiled_text_ce": true,
    "use_compiled_vision": false,
    "use_flex_attention": false,
    "use_manual_attention": false,
    "manual_attention_scope": "all",
    "lm_head_lr_scale": 1.0,
    "backbone_lr_scale": 1.0,
    "action_expert_lr_scale": 1.0,
    "flow_num_repeats": 5,
    "text_ce_z_loss_weight": 0.0001,
    "use_flashrt_fp8_mlp": false,
    "optimizer_foreach": false,
    "optimizer_fused": true
}