| { |
| "type": "psi0", |
| "n_obs_steps": 1, |
| "input_features": {}, |
| "output_features": {}, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": false, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "chunk_size": 30, |
| "n_action_steps": 30, |
| "max_state_dim": 72, |
| "max_action_dim": 91, |
| "resize_imgs_with_padding": [ |
| 224, |
| 224 |
| ], |
| "empty_cameras": 0, |
| "vlm_model_name": "Qwen/Qwen3-VL-2B-Instruct", |
| "load_vlm_weights": true, |
| "freeze_vlm": true, |
| "attention_head_dim": 64, |
| "num_attention_heads": 24, |
| "action_hidden_dim": 1536, |
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| "use_dit": false, |
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| "eval_diffusion_steps": 10, |
| "rtc": false, |
| "max_delay": 8, |
| "dropout": 0.1, |
| "gradient_checkpointing": true, |
| "compile_model": false, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MIN_MAX", |
| "ACTION": "MIN_MAX" |
| }, |
| "optimizer_lr": 0.0001, |
| "optimizer_weight_decay": 0.01, |
| "optimizer_betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "optimizer_eps": 1e-08, |
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| "scheduler_warmup_steps": 1000, |
| "scheduler_decay_steps": 40000, |
| "scheduler_decay_lr": 2.5e-06 |
| } |
