# π0.5 VLA: one diffusion stage, one GPU, eager, bsz 1 (OpenPI policy serving is
# one observation -> one action reply). Every key below is documented in
# recipes/lerobot/Pi05.md.

pipeline: pi05
async_chunk: false
distributed_executor_backend: mp
# float32 or bfloat16. bfloat16 is faster and halves memory at a numerical cost;
# read "Choosing a dtype" in the recipe before switching.
dtype: float32

stages:
  - stage_id: 0
    devices: "0"
    max_num_seqs: 1
    enforce_eager: true
    model_class_name: Pi05Pipeline
    model_config:
      paligemma_variant: gemma_2b
      action_expert_variant: gemma_300m
      chunk_size: 50
      # Must equal chunk_size: this endpoint returns the whole chunk and keeps no
      # action queue, so "execute the first N steps, then replan" is not available.
      n_action_steps: 50
      max_action_dim: 32
      max_state_dim: 32
      num_inference_steps: 10
      image_resolution: [224, 224]
      tokenizer_max_length: 200
      state_num_bins: 256
      max_cameras: 3
      image_feature_keys:
        - observation.images.base_0_rgb
        - observation.images.left_wrist_0_rgb
        - observation.images.right_wrist_0_rgb
      image_key_map: {}
      use_relative_actions: false
      relative_exclude_joints:
        - gripper
      # OpenPI handshake metadata advertised to the robot client.
      policy_server_config:
        image_resolution: [224, 224]
        n_external_cameras: 1
        needs_wrist_camera: true
        needs_stereo_camera: false
        needs_session_id: false
        action_space: joint_position
        action_horizon: 50
        action_dim: 32
        max_action_dim: 32
        max_cameras: 3