| { |
| "type": "tinyvla", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.images.cam0": { |
| "type": "VISUAL", |
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| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.cam1": { |
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| 256, |
| 256 |
| ] |
| }, |
| "observation.state": { |
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| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
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| 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, |
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| "normalization_mapping": { |
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| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
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| "max_state_dim": 16, |
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| "num_embodiments": 8, |
| "max_cameras": 3, |
| "image_size": 256, |
| "freeze_vision_encoder": false, |
| "lm_model_name": "Qwen/Qwen3.5-0.8B", |
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| "pad_language_to": "longest", |
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| "use_semantic_latent": true, |
| "use_spatial_tokens": true, |
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| "spatial_loss_weight": 0.0, |
| "num_denoise_steps": 10, |
| "flow_beta_alpha": 1.5, |
| "flow_beta_beta": 1.0, |
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| "staleness_prob": 0.0, |
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| "optimizer_lr": 0.0001, |
| "optimizer_betas": [ |
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| 0.95 |
| ], |
| "optimizer_eps": 1e-08, |
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| "scheduler_decay_lr": 2.5e-06 |
| } |
