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GSR
File size: 2,210 Bytes
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{
  "type": "paravla",
  "n_obs_steps": 1,
  "input_features": {
    "observation.images.image": {
      "type": "VISUAL",
      "shape": [
        3,
        256,
        256
      ]
    },
    "observation.images.image2": {
      "type": "VISUAL",
      "shape": [
        3,
        256,
        256
      ]
    },
    "observation.state": {
      "type": "STATE",
      "shape": [
        8
      ]
    }
  },
  "output_features": {
    "action": {
      "type": "ACTION",
      "shape": [
        7
      ]
    }
  },
  "device": "cuda",
  "use_amp": true,
  "use_peft": false,
  "push_to_hub": false,
  "repo_id": "GSR/ParaVLA-LIBERO",
  "private": null,
  "tags": null,
  "license": null,
  "pretrained_path": null,
  "chunk_size": 16,
  "n_action_steps": 8,
  "use_temporal_ensembling": true,
  "temporal_ensemble_coeff": 0.9,
  "max_state_dim": 32,
  "max_action_dim": 32,
  "normalization_mapping": {
    "VISUAL": "IDENTITY",
    "STATE": "MEAN_STD",
    "ACTION": "MEAN_STD"
  },
  "vision_model": "facebook/dinov2-large",
  "text_model": "google-t5/t5-large",
  "image_size": 224,
  "hidden_size": 1024,
  "fusion_heads": 16,
  "fusion_layers": 4,
  "dropout": 0.1,
  "num_denoise_steps": 20,
  "num_expert_layers": 8,
  "num_expert_heads": 16,
  "expert_head_dim": 64,
  "expert_injection_stride": 1,
  "expert_injection_min_scale": 1.0,
  "use_coord_injection": false,
  "freeze_vision_encoder": false,
  "freeze_text_encoder": true,
  "freeze_patch_embed": false,
  "unfreeze_blocks": 4,
  "use_lora": false,
  "lora_r": 64,
  "lora_alpha": 128,
  "lora_dropout": 0.05,
  "lora_target_modules": [
    "qkv",
    "proj",
    "fc1",
    "fc2",
    "patch_embed.proj"
  ],
  "tokenizer_max_length": 64,
  "text_dropout_prob": 0.0,
  "vision_dim": 1536,
  "use_goal_predictor": false,
  "use_wrist_camera": true,
  "guidance_scale": 1.0,
  "film_scale_init": 1.0,
  "optimizer_lr": 0.0001,
  "backbone_lr_fraction": 0.1,
  "patch_embed_lr_fraction": 0.5,
  "optimizer_betas": [
    0.9,
    0.95
  ],
  "optimizer_eps": 1e-08,
  "optimizer_weight_decay": 0.0005,
  "optimizer_grad_clip_norm": 2.0,
  "scheduler_warmup_steps": 2000,
  "scheduler_decay_steps": 45000,
  "scheduler_decay_lr": 1e-06
}