opentau.policies.pi07_paligemma.low_level

Low-level component for π07 (PaliGemma variant).

This module implements the low-level component of the π07 hierarchical architecture. It uses a SpaceTime SigLIP video encoder, processes temporal state sequences (one continuous token per timestep), and supports optional subtask response, subgoal image, and metadata conditioning. Action generation combines flow matching (continuous actions via an action expert) with FAST discrete token prediction (through the VLM backbone with Knowledge Insulation).

Modules

configuration_pi07_low_level	Configuration module for the PI05 Policy.
modeling_pi07_low_level	π05: A Vision-Language-Action Flow Model for General Robot Control