| { | |
| "arch_specifier": "no-align+fused-gelu-mlp", | |
| "architectures": [ | |
| "OpenVLAForActionPrediction" | |
| ], | |
| "auto_map": { | |
| "AutoConfig": "configuration_prismatic.OpenVLAConfig", | |
| "AutoModelForVision2Seq": "modeling_prismatic.OpenVLAForActionPrediction" | |
| }, | |
| "hf_llm_id": "meta-llama/Llama-2-7b-hf", | |
| "image_resize_strategy": "resize-naive", | |
| "image_sizes": [ | |
| 224, | |
| 224 | |
| ], | |
| "llm_backbone_id": "llama2-7b-pure", | |
| "llm_max_length": 2048, | |
| "model_type": "openvla", | |
| "n_action_bins": 256, | |
| "norm_stats": { | |
| "libero_spatial": { | |
| "action": { | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ], | |
| "max": [ | |
| 0.9375, | |
| 0.9375, | |
| 0.9375, | |
| 0.1971428543329239, | |
| 0.33642858266830444, | |
| 0.375, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.15312479436397552, | |
| 0.13707277178764343, | |
| -0.15526802837848663, | |
| -0.005176450591534376, | |
| -0.01120874285697937, | |
| -0.020194264128804207, | |
| 0.4578818082809448 | |
| ], | |
| "min": [ | |
| -0.9375, | |
| -0.9375, | |
| -0.9375, | |
| -0.1875, | |
| -0.3675000071525574, | |
| -0.36000001430511475, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.7454732114076613, | |
| -0.6616071462631226, | |
| -0.9375, | |
| -0.1071428582072258, | |
| -0.20678570866584778, | |
| -0.1842857152223587, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.9375, | |
| 0.8758928775787354, | |
| 0.9321428537368774, | |
| 0.1039285734295845, | |
| 0.17678570747375488, | |
| 0.14571428298950195, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.41272708773612976, | |
| 0.34724321961402893, | |
| 0.50869220495224, | |
| 0.037266165018081665, | |
| 0.07244449853897095, | |
| 0.05762382969260216, | |
| 0.49827873706817627 | |
| ] | |
| }, | |
| "num_trajectories": 432, | |
| "num_transitions": 52970, | |
| "proprio": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| } | |
| }, | |
| "output_projector_states": false, | |
| "pad_to_multiple_of": 64, | |
| "pad_token_id": 32000, | |
| "quantization_config": { | |
| "backend": null, | |
| "batch_size": 1, | |
| "bits": 2, | |
| "block_name_to_quantize": null, | |
| "cache_block_outputs": true, | |
| "checkpoint_format": "gptq", | |
| "damp_percent": 0.1, | |
| "dataset": [ | |
| "pick up blue pen and put into drawer", | |
| "Pick up the pot and place it on the napkin.", | |
| "put potato on plate", | |
| "move the spoon to the bottom left of the table", | |
| "Put the banana on the green cloth", | |
| "Move the silver pot so that it's directly in front of the canned goods.", | |
| "Place the metal pot on the purple cloth.", | |
| "Pick the blue spoon and place it on blue towel", | |
| "Put the mushroom into the pot.", | |
| "Put the banana to the left hand side of the table towards the bottom.", | |
| "Move the egg onto the towel", | |
| "Move the pot from edge to corner of the table.", | |
| "put sweet potato in pot which is in sink distractors", | |
| "Place the orange cloth directly in front of the tall can.", | |
| "Place the pot on top of the blue cloth", | |
| "Move the orange cloth to the far edge of the table", | |
| "flip pot upright which is in sink", | |
| "Move the spoon behind the metal pot.", | |
| "close microwave", | |
| "Place the corn inside of the silver pot.", | |
| "Place the spoon to the left of the pot.", | |
| "upright basil bottle cardboard fence", | |
| "put pear on plate and blueberry in pot or pan in sink", | |
| "open large4fbox flaps", | |
| "flip pot upright in sink distractors", | |
| "Put the strawberry into the metal bowl.", | |
| "Move the pineapple closer to the blue spoon against the wall.", | |
| "turn lever vertical to front distractors", | |
| "move the green cloth to the front edge next to orange", | |
| "move red spoon to middle lower part of table", | |
| "turn lever vertical to front distractors", | |
| "Slide the green rag into the corner near the blue handle.", | |
| "open fridge", | |
| "put pan in sink", | |
| "close fridge", | |
| "upright basil bottle cardboard fence", | |
| "Put the spatula to the top-left of the cloth.", | |
| "wipe pot with sponge", | |
| "close fridge", | |
| "put green squash in pot or pan", | |
| "put spatula on plate sink", | |
| "Put the knife on the left edge of the counter.", | |
| "put pear in bowl", | |
| "put spatula in pan", | |
| "put pot in sink", | |
| "open microwave", | |
| "Place the salt next to the brush above the napkin.", | |
| "Put the cheese towards the right upper corner of the table.", | |
| "Move the silver pan off of the purple rag and next to the green broccoli.", | |
| "Move red pot closer to right side of banana.", | |
| "put cauliflower in pot or pan an put pot or pan on stove", | |
| "Slide the cloth diagonally to the front of the spoon", | |
| "Move the can to the back of the counter", | |
| "Move the cucumber to the front right of the table.", | |
| "open fridge", | |
| "Pull the red rectangle near the edge of the table.", | |
| "put pear in bowl cardboardfence", | |
| "Place the red pepper on the bottom right corner of the table.", | |
| "take sushi off plate", | |
| "pour almonds in pot", | |
| "open microwave", | |
| "Move the pot to the left of the spoon, in front of the microwave.", | |
| "Pick up the corn from the steel pan and place it on the table.", | |
| "put sweet potato in pot", | |
| "fold cloth in half", | |
| "put pear in bowl cardboardfence", | |
| "put sushi on plate", | |
| "Turn the yellow spoon horizontally in front of the microwave.", | |
| "move towel up to just left of bowl", | |
| "Place wok on top of purple cloth.", | |
| "close fridge", | |
| "Place the corn to the right of the blue brush.", | |
| "Move the strawberry and place on orange towel", | |
| "take lid off pot cardboardfence", | |
| "turn lever vertical to-front", | |
| "put cup from counter to sink", | |
| "Pick up the red spoon on to of orange cloth and place it on its left", | |
| "put clothes in laundry machine", | |
| "Moves the green tool off the napkin to the bottom right.", | |
| "move green peper into pot", | |
| "Slide the yellow rag forward so that it touches the front edge of the table.", | |
| "Move the pot to the inner edge of the table.", | |
| "Move the cheese slice in between pot and blue spoon", | |
| "put knife in pot cardboard fence", | |
| "MOVE THE BLENDER INSIDE THE VESSEL", | |
| "Put the orange cloth to the top left of the table.", | |
| "move the blue cloth from front to behind on the table", | |
| "put banana in pot cardboard fence", | |
| "Place the silver pan on the purple cloth.", | |
| "put cup from anywhere into sink", | |
| "open white1fbox flap", | |
| "close white1fbox flap", | |
| "take lid off pot or pan", | |
| "Put the metal pot in front of the mushroom.", | |
| "move the scoop to the far left in front of the pepper", | |
| "Take the wok off the blue cloth and move it behind the cloth.", | |
| "lift bowl", | |
| "Move the bowl to the top right of table", | |
| "put banana in pot or pan", | |
| "Move the blue towel to the right of the spoon", | |
| "take lid off pot cardboardfence", | |
| "open microwave", | |
| "put corn in pot which is in sink distractors", | |
| "put banana on plate", | |
| "Place the mushroom in front of the microwave.", | |
| "Put the mushroom in the pot.", | |
| "put big spoon from basket to tray", | |
| "Move the orange cloth to the lower right of the table", | |
| "flip pot upright in sink distractors", | |
| "Move the purple cloth to the left of the grey toy", | |
| "take corn out of bowl sink", | |
| "Hold the mushroom which is infront of the oven and drop it under the tiffin box, which is on the right edge of the table.", | |
| "take cucumber out of cup", | |
| "flip pot upright in sink distractors", | |
| "put spoon in pot", | |
| "Move the pot directly right of the towel", | |
| "flip pot upright in sink distractors", | |
| "unzip zipper bag", | |
| "Place the spoon on top of the orange cloth.", | |
| "take cucumber out of cup", | |
| "put pot in sink", | |
| "Move the chicken thigh to the top left corner of the table.", | |
| "put pepper in pot or pan", | |
| "Move the mushroom to the left of the yellow spoon", | |
| "take carrot off plate cardboardfence", | |
| "Move blue and gray item to the left of the pot.", | |
| "Put the spoon to the left of the pot.", | |
| "pick ball and put it on the vessel", | |
| "Put the blue fork on top of the napkin", | |
| "take sushi out of pot cardboard fence", | |
| "Move the purple cloth to the far left edge of the table", | |
| "zip zipper bag", | |
| "take bowl off plate cardboard fence", | |
| "take carrot out of pot cardboard fence", | |
| "close fridge", | |
| "Put the pot in the bottom left hand corner of the table.", | |
| "open microwave", | |
| "Pick up the spoon and put it on the left hand corner of the table.", | |
| "take broccoli out of pan cardboardfence", | |
| "Place the brush behind the pot.", | |
| "Place the mushroom behind the spatula.", | |
| "Move the brush to the middle bottom between burners", | |
| "pick up blue pen and put into drawer", | |
| "Move the bowl to the left adjacent to the spoon", | |
| "Pick up the metal strainer and place it on the left eye.", | |
| "Put the spoon under the pot.", | |
| "turn lever vertical to front distractors", | |
| "Place the pot next to the knife.", | |
| "push the blue cloth a few inches back", | |
| "Move the cloth to the inner front edge of the table.", | |
| "Move the pot over the green cloth", | |
| "pick up pan from stove distractors", | |
| "Grab the bell pepper outside of the pot and place it towards the bottom of the table to the right side of the yellow towel.", | |
| "put eggplant into pot or pan", | |
| "Pick the cup from the vessel and place it on the blue towel in the middle of the table", | |
| "put sweet potato in pan which is on stove distractors", | |
| "Remove the pear from the pot and place it on the right back corner of the counter.", | |
| "put knife on cutting board cardboard fence", | |
| "wipe pot with sponge", | |
| "pour almonds in pot", | |
| "open oven", | |
| "Move the mushroom in front of the blue cloth", | |
| "Move the pot to the left of the brush.", | |
| "Move the mushroom and put it in the pot.", | |
| "Move the carrot from the pot.", | |
| "topple basil bottle cardboard fence", | |
| "Put the metal pot on top of the yellow cloth.", | |
| "close large4fbox flaps", | |
| "end effector reaching knife", | |
| "unzip zipper bag", | |
| "Move the food item to the lower left side of the table", | |
| "Put the red spoon in between the pan and the green cloth", | |
| "Place the spatula to the left of the pot.", | |
| "put pan on towel", | |
| "Move the red spoon so that it's in front of the silver pan, near the edge of the table.", | |
| "turn faucet front to left", | |
| "Move the purple cloth and place it at the center of the table.", | |
| "take carrot off plate cardboardfence", | |
| "right pepper shaker", | |
| "turn faucet front to left", | |
| "Place the container in the pan", | |
| "Move the cloth directly between the pot and mushroom.", | |
| "put the mushroom in the pot", | |
| "end effector reaching pot or pan", | |
| "Put orange and green object in silver pan", | |
| "Place the blue spoon next to the metal pot", | |
| "Put the green spoon beside the metal bowl.", | |
| "put eggplant in pot or pan", | |
| "Place the spoon on the front right corner of the counter near the bowl.", | |
| "pick up glass cup", | |
| "NOT MOMENT THE ANY THING", | |
| "put cucumber in cup", | |
| "Move the white item to the front of the microwave", | |
| "Put the fork onto the cloth.", | |
| "take bowl off plate", | |
| "pick appl from vessel and place it on the right bottom of the table", | |
| "Place the silver pot on the blue cloth.", | |
| "Place the knife next to the potato.", | |
| "put pot or pan on stove and put mushroom in pot or pan", | |
| "take carrot out of pot cardboard fence", | |
| "turn lever vertical to-front", | |
| "Move the red pepper to the front left corner of the table", | |
| "take cup off plate", | |
| "take bowl off plate", | |
| "pick up pan from stove distractors", | |
| "Place the baster in the pot.", | |
| "Move the green spatula behind the yellow cloth.", | |
| "Place the spatula behind the vessel.", | |
| "close fridge", | |
| "open microwave", | |
| "Move the orange object to the left of the pot.", | |
| "put lid on pot or pan", | |
| "Move the mushroom into the pot.", | |
| "Move and place the spoon to the right side of the silver vessel.", | |
| "move the fish behind the towel across from the pot", | |
| "Put the shaker into the pot.", | |
| "Place the green cloth next to the red chili", | |
| "put knife on cutting board", | |
| "Video format not showing.", | |
| "flip pot upright in sink distractors", | |
| "pick up scissors and put into drawer", | |
| "turn lever vertical to front", | |
| "open fridge", | |
| "Move the knife under the towel.", | |
| "put saltcontainer on plate and ketchupbottle in pot or pan in sink", | |
| "PICK UP THE FRUIT AND PUT NEAR PURPLE TOWEL", | |
| "Move the pan to the right of the bottle and banana.", | |
| "Put the pear to the right of the pot.", | |
| "put detergent in sink", | |
| "put blueberry on plate and spoon in pot or pan in sink", | |
| "Move the pan to the middle left edge of the table.", | |
| "Move the hot dog towards the top of the table.", | |
| "Pick up the yellow flower and place it behind the pot", | |
| "Pick up pot and drop onto the blue towel", | |
| "put cup from sink to drying rack", | |
| "moved fork to the back of the counter", | |
| "Move the silver pot to the center of the table.", | |
| "put the Spoon on the towel", | |
| "Place the red spoon on middle of the table", | |
| "open drawer of box", | |
| "Move the brush nearby the lower right corner.", | |
| "turn lever vertical to front distractors", | |
| "Move pot to the right of the spoon.", | |
| "fold cloth in half", | |
| "put cup from counter to sink", | |
| "move yellow knife to left of blue object", | |
| "Pick up the green spatula and place it on the green cloth", | |
| "pick up green mug", | |
| "put cup from counter to sink", | |
| "Put the green spatula in the upper left corner of the table", | |
| "put potato on plate", | |
| "take sushi out of pot cardboard fence", | |
| "put eggplant into pot or pan", | |
| "Move the blue cloth to the left of the silver bowl", | |
| "put sushi on plate", | |
| "Move the spoon between the cans and the mushroom" | |
| ], | |
| "desc_act": false, | |
| "exllama_config": { | |
| "version": 1 | |
| }, | |
| "group_size": 128, | |
| "max_input_length": null, | |
| "meta": { | |
| "quantizer": [ | |
| "optimum:1.26.1", | |
| "auto_gptq:0.7.1" | |
| ] | |
| }, | |
| "model_seqlen": null, | |
| "module_name_preceding_first_block": null, | |
| "modules_in_block_to_quantize": null, | |
| "pad_token_id": null, | |
| "quant_method": "gptq", | |
| "sym": true, | |
| "tokenizer": null, | |
| "true_sequential": true, | |
| "use_cuda_fp16": false, | |
| "use_exllama": true | |
| }, | |
| "text_config": { | |
| "attention_bias": false, | |
| "attention_dropout": 0.0, | |
| "head_dim": 128, | |
| "hidden_act": "silu", | |
| "hidden_size": 4096, | |
| "initializer_range": 0.02, | |
| "intermediate_size": 11008, | |
| "max_position_embeddings": 2048, | |
| "mlp_bias": false, | |
| "model_type": "llama", | |
| "num_attention_heads": 32, | |
| "num_hidden_layers": 32, | |
| "num_key_value_heads": 32, | |
| "pad_token_id": 32000, | |
| "pretraining_tp": 1, | |
| "rms_norm_eps": 1e-06, | |
| "rope_scaling": null, | |
| "rope_theta": 10000.0, | |
| "torch_dtype": "bfloat16", | |
| "use_cache": true, | |
| "vocab_size": 32064 | |
| }, | |
| "timm_model_ids": [ | |
| "vit_large_patch14_reg4_dinov2.lvd142m", | |
| "vit_so400m_patch14_siglip_224" | |
| ], | |
| "timm_override_act_layers": [ | |
| null, | |
| null | |
| ], | |
| "torch_dtype": "float16", | |
| "transformers_version": "4.53.1", | |
| "use_cache": false, | |
| "use_fused_vision_backbone": true, | |
| "vision_backbone_id": "dinosiglip-vit-so-224px" | |
| } | |