| { | |
| "norm_stats": { | |
| "gen72_grasp_stacking_cloth": { | |
| "action": { | |
| "mean": [ | |
| 62.43017578125, | |
| 87.67520904541016, | |
| -81.64241790771484, | |
| -79.35697174072266, | |
| -5.861265659332275, | |
| 10.143360137939453, | |
| -2.90120792388916, | |
| 72.50067138671875, | |
| -77.66656494140625, | |
| 86.92049407958984, | |
| 84.2964096069336, | |
| -83.40449523925781, | |
| 5.118907928466797, | |
| 3.7968454360961914, | |
| 5.422410488128662, | |
| 86.0960922241211 | |
| ], | |
| "std": [ | |
| 26.70451545715332, | |
| 15.426373481750488, | |
| 25.905000686645508, | |
| 19.544811248779297, | |
| 22.8100643157959, | |
| 23.047954559326172, | |
| 19.49391746520996, | |
| 41.80753707885742, | |
| 29.825439453125, | |
| 14.745803833007812, | |
| 21.135257720947266, | |
| 22.255817413330078, | |
| 18.003395080566406, | |
| 18.94203758239746, | |
| 16.219724655151367, | |
| 32.87356948852539 | |
| ], | |
| "max": [ | |
| 166.1999969482422, | |
| 102.0, | |
| 18.280000686645508, | |
| 52.0, | |
| 169.0, | |
| 92.24500274658203, | |
| 152.92999267578125, | |
| 100.0, | |
| 52.90999984741211, | |
| 102.0, | |
| 169.0, | |
| 52.0, | |
| 121.50499725341797, | |
| 76.7300033569336, | |
| 119.13500213623047, | |
| 100.0 | |
| ], | |
| "min": [ | |
| -16.790000915527344, | |
| -35.904998779296875, | |
| -169.0, | |
| -98.3499984741211, | |
| -105.63999938964844, | |
| -86.56999969482422, | |
| -108.1050033569336, | |
| 0.0, | |
| -146.47000122070312, | |
| -50.494998931884766, | |
| -37.04499816894531, | |
| -97.7300033569336, | |
| -157.6750030517578, | |
| -82.2699966430664, | |
| -140.4949951171875, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 11.6899995803833, | |
| 30.454999923706055, | |
| -126.7388484954834, | |
| -96.11000061035156, | |
| -66.4000015258789, | |
| -51.33000183105469, | |
| -55.10885036468506, | |
| 0.0, | |
| -109.25, | |
| 28.17919984817505, | |
| 18.235000610351562, | |
| -97.12000274658203, | |
| -25.17080009460449, | |
| -51.85499954223633, | |
| -48.34000015258789, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 102.73999786376953, | |
| 102.0, | |
| -13.369199647902697, | |
| 1.790799961090833, | |
| 47.369998931884766, | |
| 66.31500244140625, | |
| 48.95500183105469, | |
| 100.0, | |
| -2.109999895095825, | |
| 102.0, | |
| 116.62999725341797, | |
| 10.723850355148409, | |
| 61.6588496017457, | |
| 51.77000045776367, | |
| 44.34000015258789, | |
| 100.0 | |
| ], | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true | |
| ] | |
| }, | |
| "proprio": { | |
| "mean": [ | |
| 62.37788391113281, | |
| 87.68936157226562, | |
| -81.61447143554688, | |
| -79.36709594726562, | |
| -5.8816938400268555, | |
| 10.13486385345459, | |
| -2.892655849456787, | |
| 72.50101470947266, | |
| -77.6031723022461, | |
| 86.94501495361328, | |
| 84.27079772949219, | |
| -83.39244079589844, | |
| 5.130640983581543, | |
| 3.7632524967193604, | |
| 5.420851707458496, | |
| 86.09623718261719 | |
| ], | |
| "std": [ | |
| 25.871257781982422, | |
| 14.867486953735352, | |
| 25.252859115600586, | |
| 18.814409255981445, | |
| 22.16670036315918, | |
| 21.30392837524414, | |
| 18.7672061920166, | |
| 41.807701110839844, | |
| 29.216785430908203, | |
| 14.115077018737793, | |
| 20.53180503845215, | |
| 21.84934425354004, | |
| 17.31168556213379, | |
| 17.874422073364258, | |
| 15.709982872009277, | |
| 32.87362289428711 | |
| ], | |
| "max": [ | |
| 160.5500030517578, | |
| 102.02999877929688, | |
| 13.489999771118164, | |
| 52.02000045776367, | |
| 159.24000549316406, | |
| 89.77999877929688, | |
| 143.4199981689453, | |
| 100.0, | |
| 50.060001373291016, | |
| 102.08999633789062, | |
| 169.00999450683594, | |
| 52.029998779296875, | |
| 116.55999755859375, | |
| 69.1500015258789, | |
| 107.02999877929688, | |
| 100.0 | |
| ], | |
| "min": [ | |
| -14.3100004196167, | |
| -33.93000030517578, | |
| -169.00999450683594, | |
| -98.05000305175781, | |
| -101.91000366210938, | |
| -81.33000183105469, | |
| -100.11000061035156, | |
| 0.0, | |
| -141.3000030517578, | |
| -48.31999969482422, | |
| -29.790000915527344, | |
| -97.66999816894531, | |
| -147.30999755859375, | |
| -80.5999984741211, | |
| -131.22000122070312, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 12.260000228881836, | |
| 32.06999969482422, | |
| -125.55999755859375, | |
| -95.9000015258789, | |
| -64.44999694824219, | |
| -46.470001220703125, | |
| -52.880001068115234, | |
| 0.0, | |
| -108.62000274658203, | |
| 30.662299900054933, | |
| 19.889999389648438, | |
| -97.11000061035156, | |
| -23.90999984741211, | |
| -48.310001373291016, | |
| -46.52769916534424, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 101.80999755859375, | |
| 102.01000213623047, | |
| -15.149999618530273, | |
| -0.8115000146618113, | |
| 45.9900016784668, | |
| 62.34000015258789, | |
| 47.220001220703125, | |
| 100.0, | |
| -3.6346001100536434, | |
| 102.01000213623047, | |
| 115.7300033569336, | |
| 9.609999656677246, | |
| 59.17769981384296, | |
| 48.88999938964844, | |
| 42.459999084472656, | |
| 100.0 | |
| ] | |
| }, | |
| "num_transitions": 296424, | |
| "num_trajectories": 498 | |
| } | |
| }, | |
| "n_action_bins": 256, | |
| "vision_backbone_id": "dinosiglip-vit-so-224px", | |
| "llm_backbone_id": "llama2-7b-pure", | |
| "arch_specifier": "no-align+fused-gelu-mlp", | |
| "output_projector_states": false, | |
| "use_fused_vision_backbone": true, | |
| "timm_model_ids": [ | |
| "vit_large_patch14_reg4_dinov2.lvd142m", | |
| "vit_so400m_patch14_siglip_224" | |
| ], | |
| "timm_override_act_layers": [ | |
| null, | |
| null | |
| ], | |
| "image_sizes": [ | |
| 224, | |
| 224 | |
| ], | |
| "image_resize_strategy": "resize-naive", | |
| "hf_llm_id": "meta-llama/Llama-2-7b-hf", | |
| "llm_max_length": 2048, | |
| "pad_token_id": 32000, | |
| "pad_to_multiple_of": 64, | |
| "text_config": { | |
| "vocab_size": 32064, | |
| "max_position_embeddings": 2048, | |
| "hidden_size": 4096, | |
| "intermediate_size": 11008, | |
| "num_hidden_layers": 32, | |
| "num_attention_heads": 32, | |
| "num_key_value_heads": 32, | |
| "hidden_act": "silu", | |
| "initializer_range": 0.02, | |
| "rms_norm_eps": 1e-06, | |
| "pretraining_tp": 1, | |
| "use_cache": true, | |
| "rope_theta": 10000.0, | |
| "rope_scaling": null, | |
| "attention_bias": false, | |
| "attention_dropout": 0.0, | |
| "return_dict": true, | |
| "output_hidden_states": false, | |
| "output_attentions": false, | |
| "torchscript": false, | |
| "torch_dtype": "bfloat16", | |
| "use_bfloat16": false, | |
| "tf_legacy_loss": false, | |
| "pruned_heads": {}, | |
| "tie_word_embeddings": false, | |
| "chunk_size_feed_forward": 0, | |
| "is_encoder_decoder": false, | |
| "is_decoder": false, | |
| "cross_attention_hidden_size": null, | |
| "add_cross_attention": false, | |
| "tie_encoder_decoder": false, | |
| "max_length": 20, | |
| "min_length": 0, | |
| "do_sample": false, | |
| "early_stopping": false, | |
| "num_beams": 1, | |
| "num_beam_groups": 1, | |
| "diversity_penalty": 0.0, | |
| "temperature": 1.0, | |
| "top_k": 50, | |
| "top_p": 1.0, | |
| "typical_p": 1.0, | |
| "repetition_penalty": 1.0, | |
| "length_penalty": 1.0, | |
| "no_repeat_ngram_size": 0, | |
| "encoder_no_repeat_ngram_size": 0, | |
| "bad_words_ids": null, | |
| "num_return_sequences": 1, | |
| "output_scores": false, | |
| "return_dict_in_generate": false, | |
| "forced_bos_token_id": null, | |
| "forced_eos_token_id": null, | |
| "remove_invalid_values": false, | |
| "exponential_decay_length_penalty": null, | |
| "suppress_tokens": null, | |
| "begin_suppress_tokens": null, | |
| "architectures": null, | |
| "finetuning_task": null, | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "label2id": { | |
| "LABEL_0": 0, | |
| "LABEL_1": 1 | |
| }, | |
| "tokenizer_class": null, | |
| "prefix": null, | |
| "bos_token_id": 1, | |
| "pad_token_id": 32000, | |
| "eos_token_id": 2, | |
| "sep_token_id": null, | |
| "decoder_start_token_id": null, | |
| "task_specific_params": null, | |
| "problem_type": null, | |
| "_name_or_path": "", | |
| "model_type": "llama" | |
| }, | |
| "return_dict": true, | |
| "output_hidden_states": false, | |
| "output_attentions": false, | |
| "torchscript": false, | |
| "torch_dtype": "bfloat16", | |
| "use_bfloat16": false, | |
| "tf_legacy_loss": false, | |
| "pruned_heads": {}, | |
| "tie_word_embeddings": true, | |
| "chunk_size_feed_forward": 0, | |
| "is_encoder_decoder": false, | |
| "is_decoder": false, | |
| "cross_attention_hidden_size": null, | |
| "add_cross_attention": false, | |
| "tie_encoder_decoder": false, | |
| "max_length": 20, | |
| "min_length": 0, | |
| "do_sample": false, | |
| "early_stopping": false, | |
| "num_beams": 1, | |
| "num_beam_groups": 1, | |
| "diversity_penalty": 0.0, | |
| "temperature": 1.0, | |
| "top_k": 50, | |
| "top_p": 1.0, | |
| "typical_p": 1.0, | |
| "repetition_penalty": 1.0, | |
| "length_penalty": 1.0, | |
| "no_repeat_ngram_size": 0, | |
| "encoder_no_repeat_ngram_size": 0, | |
| "bad_words_ids": null, | |
| "num_return_sequences": 1, | |
| "output_scores": false, | |
| "return_dict_in_generate": false, | |
| "forced_bos_token_id": null, | |
| "forced_eos_token_id": null, | |
| "remove_invalid_values": false, | |
| "exponential_decay_length_penalty": null, | |
| "suppress_tokens": null, | |
| "begin_suppress_tokens": null, | |
| "architectures": [ | |
| "OpenVLAForActionPrediction" | |
| ], | |
| "finetuning_task": null, | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "label2id": { | |
| "LABEL_0": 0, | |
| "LABEL_1": 1 | |
| }, | |
| "tokenizer_class": null, | |
| "prefix": null, | |
| "bos_token_id": null, | |
| "eos_token_id": null, | |
| "sep_token_id": null, | |
| "decoder_start_token_id": null, | |
| "task_specific_params": null, | |
| "problem_type": null, | |
| "_name_or_path": "openvla/openvla-7b", | |
| "transformers_version": "4.40.1", | |
| "auto_map": { | |
| "AutoConfig": "openvla/openvla-7b--configuration_prismatic.OpenVLAConfig", | |
| "AutoModelForVision2Seq": "openvla/openvla-7b--modeling_prismatic.OpenVLAForActionPrediction" | |
| }, | |
| "model_type": "openvla" | |
| } |