InternVLA-A1.5-Libero / config.json
hxma's picture
Update config.json
1e2a902 verified
Raw
History Blame Contribute Delete
2.26 kB
{
"type": "internvla_a1_5",
"n_obs_steps": 1,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
32
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
32
]
}
},
"device": "cuda:0",
"use_amp": false,
"push_to_hub": false,
"repo_id": null,
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"vlm_model_name_or_path": "Wan-AI/Wan2.2-TI2V-5B",
"action_expert_hidden_size": 1024,
"action_expert_intermediate_size": 3072,
"dtype": "bfloat16",
"chunk_size": 8,
"n_action_steps": 8,
"max_state_dim": 32,
"max_action_dim": 32,
"num_inference_steps": 10,
"time_sampling_beta_alpha": 1.5,
"time_sampling_beta_beta": 1.0,
"time_sampling_scale": 0.999,
"time_sampling_offset": 0.001,
"min_period": 0.004,
"max_period": 4.0,
"image_resolution": [
224,
224
],
"empty_cameras": 0,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "IDENTITY",
"ACTION": "IDENTITY"
},
"gradient_checkpointing": false,
"compile_model": false,
"compile_mode": "max-autotune",
"optimizer_lr": 5e-05,
"optimizer_betas": [
0.9,
0.95
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 0.01,
"optimizer_grad_clip_norm": 1.0,
"scheduler_warmup_steps": 2000,
"scheduler_decay_steps": 100000,
"scheduler_decay_lr": 5e-06,
"tokenizer_max_length": 48,
"freeze_vision_encoder": false,
"train_expert_only": false,
"enable_vqa_loss": true,
"lambda_vqa": 1.0,
"tokenize_state": true,
"action_token_min": 248077,
"action_token_max": 250124,
"knowledge_insulation": false,
"block_action_attend_fast_tokens": true,
"inference_action_type": "fm",
"use_sdpa": false,
"num_learnable_tokens": 50,
"wan_checkpoint_path": "Wan-AI/Wan2.2-TI2V-5B",
"wan_config_path": "Wan-AI/Wan2.2-TI2V-5B",
"vae_path": "Wan-AI/Wan2.2-TI2V-5B/Wan2.2_VAE.pth",
"video_precision": "bfloat16",
"freeze_wan_dit": true,
"num_video_frames": 4,
"video_height": 224,
"video_width": 224,
"video_loss_weight": 1.0,
"video_loss_only": false,
"action_loss_only": false,
"freeze_learnable_tokens": false,
"inference_backend": "standard"
}