oft_training_config.json

{
  "dataset_name": "utokyo_xarm_pick_and_place_converted_externally_to_rlds",
  "vla_path": "/workspace/kaixi/RealWorld/openvla_oft_runs/merged_public_checkpoints/oft_setting2_chunksize25_batch32_20k",
  "use_film": true,
  "num_images_in_input": 2,
  "use_proprio": true,
  "use_l1_regression": true,
  "use_diffusion": false,
  "use_lora": true,
  "lora_rank": 32,
  "num_actions_chunk": 25,
  "action_dim": 7,
  "proprio_dim": 6,
  "action_proprio_normalization_type": "NormalizationType.BOUNDS_Q99"
}