{
    "type": "pi05",
    "n_obs_steps": 1,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "MIN_MAX",
        "ACTION": "MEAN_STD"
    },
    "input_features": {
        "state": {
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        },
        "camera0": {
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            ]
        },
        "camera1": {
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            ]
        },
        "camera2": {
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            ]
        }
    },
    "output_features": {
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            "type": "ACTION",
            "shape": [
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            ]
        }
    },
    "device": null,
    "use_amp": false,
    "pretrained_path": "outputs/train/2026-03-21/04-00-37_pi05/checkpoints/0031000",
    "cloud_vlm_latency_mean": 0.0,
    "cloud_vlm_latency_std": 0.0,
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    "action_decoder_latency_mean": 0.0,
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    "chunk_size": 20,
    "n_action_steps": 20,
    "max_state_dim": 32,
    "max_action_dim": 32,
    "predict_response": false,
    "resize_imgs_with_padding": [
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    ],
    "empty_cameras": 0,
    "prompt_max_length": 256,
    "response_max_length": 52,
    "discrete_action_max_length": 75,
    "proj_width": 1024,
    "dropout": 0.1,
    "num_steps": 10,
    "max_delay": 0,
    "init_strategy": "no_init",
    "attention_implementation": "eager",
    "freeze_vision_encoder": false,
    "train_expert_only": false,
    "optimizer_lr": 2.5e-05,
    "optimizer_betas": [
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        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
}