| { | |
| "type": "evo1", | |
| "n_obs_steps": 1, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "observation.images.front": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 6 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "push_to_hub": true, | |
| "repo_id": "Beilinghamburger/evo1_so100_vla", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "chunk_size": 50, | |
| "n_action_steps": 50, | |
| "max_state_dim": 24, | |
| "max_action_dim": 24, | |
| "resize_imgs_with_padding": [ | |
| 448, | |
| 448 | |
| ], | |
| "empty_cameras": 0, | |
| "vlm_model_name": "OpenGVLab/InternVL3-1B", | |
| "load_vlm_weights": true, | |
| "add_image_special_tokens": false, | |
| "attention_mode": "cross_attn", | |
| "prefix_length": 0, | |
| "pad_language_to": "max_length", | |
| "action_head": "flowmatching", | |
| "dropout": 0.2, | |
| "num_layers": 8, | |
| "per_action_dim": 24, | |
| "state_dim": 24, | |
| "action_dim": 1200, | |
| "use_augmentation": true, | |
| "binarize_gripper": false, | |
| "freeze_vision_encoder": false, | |
| "train_expert_only": false, | |
| "train_state_proj": true, | |
| "optimizer_lr": 1e-05, | |
| "optimizer_betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 0.001, | |
| "optimizer_grad_clip_norm": 1.0, | |
| "scheduler_warmup_steps": 1000, | |
| "scheduler_decay_steps": 30000, | |
| "scheduler_decay_lr": 2.5e-06, | |
| "batch_size": 16, | |
| "max_steps": 30000, | |
| "log_interval": 10, | |
| "ckpt_interval": 2500, | |
| "save_dir": "./checkpoints/evo1", | |
| "resume": true, | |
| "resume_path": "/home/usyd/Evo-1-e/so100_evo1/checkpoint", | |
| "resume_pretrain": true, | |
| "num_workers": 4, | |
| "disable_wandb": true, | |
| "return_cls_only": false, | |
| "run_name": "Evo1_Default", | |
| "dataset_type": "lerobot", | |
| "dataset_config_path": "", | |
| "data_paths": null, | |
| "num_steps": 10, | |
| "min_period": 0.004, | |
| "max_period": 4.0 | |
| } |