| { |
| "type": "paravla", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.images.image": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 256, |
| 256 |
| ] |
| }, |
| "observation.images.image2": { |
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| 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, |
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| "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, |
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| "fusion_layers": 4, |
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| "num_expert_layers": 8, |
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| "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, |
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| "use_lora": false, |
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| "lora_alpha": 128, |
| "lora_dropout": 0.05, |
| "lora_target_modules": [ |
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| "proj", |
| "fc1", |
| "fc2", |
| "patch_embed.proj" |
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| "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 |
| } |
|
|
