config.json

{
  "model_type": "pi0",
  "framework": "openpi",
  "architecture": "diffusion_policy",
  "task": "bolt_nut_sorting",
  "action_dim": 32,
  "action_horizon": 50,
  "max_token_len": 48,
  "training_steps": 29999,
  "base_model": "google/paligemma-3b-pt-224",
  "robot_type": "aloha_dual_arm",
  "observation_space": {
    "images": [
      "cam_high",
      "cam_left_wrist",
      "cam_right_wrist"
    ],
    "image_size": [
      224,
      224,
      3
    ],
    "state_dim": 14
  },
  "action_space": {
    "type": "continuous",
    "shape": [
      14
    ],
    "description": "14-DoF: left_arm(6) + left_gripper(1) + right_arm(6) + right_gripper(1)"
  },
  "prompt": "sort the bolts and the nuts into separate baskets"
}