Robotics
LeRobot
Safetensors
lavla
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{
"type": "lavla",
"n_obs_steps": 1,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
6
]
},
"observation.images.camera1": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"observation.images.camera2": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"observation.images.camera3": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
6
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": "Alkatt/LAVLA_PickStackSort_RedBlueCube_test",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"s1_only": false,
"s2_backend_type": "local",
"s2_remote_server_ip": "0.0.0.0",
"s2_remote_server_port": "0000",
"s2_blocking_mode": false,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"n_action_steps": 50,
"chunk_size": 50,
"max_action_dim": 6,
"s1_freeze_vision_encoder": true,
"s1_image_resolution": [
256,
256
],
"s1_mlp_dim": 2048,
"s1_embedding_dim": 1024,
"s1_num_attention_heads": 8,
"s1_num_layers": 8,
"s1_flow_integration_steps": 10,
"s1_efficient_net": "google/efficientnet-b0",
"s1_add_action_pos_embeddings": true,
"s2_vlm_model": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
"s2_freeze_vlm": true,
"optimizer_type": "linearwarmup_cosinedecay",
"optimizer_lr": 0.0001,
"optimizer_weight_decay": 1e-10,
"optimzer_grad_clip_norm": 10,
"optimizer_decay_lr": 2.5e-06,
"optimizer_betas": [
0.9,
0.95
],
"optimizer_eps": 1e-10
}