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Sequence Parameters

    
Prefix (B1)203 tokens

    
Proprio (B2)1 token

    
Actions (B3)50+1 tokens

    
Total Sequence255 tokens

    
Embed Dim2048

  

  

    
Assembly Progress

    

  

  

    
Block Status

    

      
B1

      
B2

      
B3

    

  





  

    
Legend

    
Visual Tokens (Block 1)

    
Language Tokens (Block 1)

    
Proprio Token (Block 2)

    
Noisy Actions (Block 3)

    
Time Embedding (τ)

    
Attention Allowed

    
Attention Blocked

  







  

    
Ready

    
Press Play to see how pi0 assembles its input sequence from three blocks — semantic prefix, proprioception, and noisy actions — then applies a block-wise attention mask. Step 4 of the pi0 architecture.

  

  

    
    
    
    
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