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tinyvla

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tinyvla
File size: 2,131 Bytes
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{
    "type": "tinyvla",
    "n_obs_steps": 1,
    "input_features": {
        "observation.images.cam0": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "observation.images.cam1": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "observation.state": {
            "type": "STATE",
            "shape": [
                16
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                8
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": true,
    "repo_id": null,
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "pretrained_revision": null,
    "chunk_size": 50,
    "n_action_steps": 50,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "MEAN_STD",
        "ACTION": "MEAN_STD"
    },
    "max_state_dim": 16,
    "max_action_dim": 8,
    "num_embodiments": 8,
    "max_cameras": 3,
    "image_size": 256,
    "freeze_vision_encoder": false,
    "lm_model_name": "Qwen/Qwen3.5-0.8B",
    "lm_num_layers": 12,
    "num_readout_tokens": 8,
    "freeze_lm": false,
    "tokenizer_max_length": 48,
    "pad_language_to": "longest",
    "expert_dim": 512,
    "expert_layers": 12,
    "expert_heads": 8,
    "use_semantic_latent": true,
    "use_spatial_tokens": true,
    "spatial_vocab": 1024,
    "spatial_loss_weight": 0.0,
    "num_denoise_steps": 10,
    "flow_beta_alpha": 1.5,
    "flow_beta_beta": 1.0,
    "min_period": 0.004,
    "max_period": 4.0,
    "staleness_prob": 0.0,
    "staleness_max_s": 2.0,
    "optimizer_lr": 0.0001,
    "optimizer_betas": [
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        0.95
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 1e-10,
    "optimizer_grad_clip_norm": 10.0,
    "scheduler_warmup_steps": 1000,
    "scheduler_decay_steps": 40000,
    "scheduler_decay_lr": 2.5e-06
}