feat: Add Pi0.5 inference support with PaliGemmaWithExpert architecture #927
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Core Model Implementation: - Add PI0_5_Policy model with 32-dimensional action space support - Implement discrete state input processing for robotics tasks - Add PaliGemmaWithExpert backbone with AdaRMSNorm for flow matching - Support 16-step action prediction with temporal modeling Inference Configuration: - Add comprehensive inference configuration templates - Support both high-level and detailed inference configs - Include tokenizer and action dimension parameters - Maintain compatibility with existing Pi0 inference patterns Technical Details: - Extended Pi0 architecture for expert-enhanced multimodal reasoning - Flow matching timestep injection with adaRMS normalization - Vision-language-action model with discrete state integration Code Quality: - Applied Black code formatting - Fixed trailing whitespace and line endings - Ensured isort import organization compliance
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PR Category
Inference
PR Types
New Features
PR Description
Core Model Implementation
Inference Configuration
Technical Details