| { |
| "model_type": "nova_vla", |
| "architectures": ["NovaVLA"], |
| "model": { |
| "image_size": 224, |
| "patch_size": 16, |
| "vis_width": 384, |
| "vis_depth": 12, |
| "vis_heads": 6, |
| "vocab_size": 8192, |
| "max_text_len": 32, |
| "text_width": 384, |
| "text_depth": 6, |
| "text_heads": 6, |
| "d_model": 512, |
| "heads": 8, |
| "mlp_ratio": 4, |
| "dropout": 0.0, |
| "perceive_depth": 12, |
| "think_steps": 3, |
| "plan_tokens": 8, |
| "action_dim": 7, |
| "chunk": 16, |
| "flow_depth": 6, |
| "flow_heads": 8, |
| "flow_sample_steps": 10, |
| "proprio_dim": 8, |
| "aux_future_offsets": [5, 10], |
| "aux_weight": 0.05 |
| }, |
| "normalization": { |
| "state_mean": [0.3103575683105713, 0.03385267682753605, 0.07539214932109646, 0.0019429612792045642, -0.09182343426452422, 0.11483689370041507, 0.7289980988365603, 0.0], |
| "state_std": [0.05759261126114262, 0.08664525178991958, 0.050983596210794846, 0.12618106493472714, 0.1652598155695422, 0.45545984538043605, 0.3420460553904895, 1.0], |
| "action_mean": [0.00030262056748640604, 4.503544677976835e-05, 0.0008777064659451161, -0.0008190429105794883, -0.002905744384466832, 0.001450979582147165, 0.607390816217698], |
| "action_std": [0.010445865322303785, 0.016080933468225835, 0.015232868987278048, 0.028649411223907066, 0.029377470968555214, 0.11161144330245538, 0.48518597376928313] |
| } |
| } |
|
|