{
  "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"
}