config.json

{
  "_note": "N0-VTLA pretrained base. This is a fine-tuning initialization, not a deployable policy. Load it with the vtla_tactile_posttrain recipe in https://github.com/neoteai/N0-VTLA",
  "type": "n0vtla",
  "model_class": "n0vtla.models_pytorch.n0vtla_policy.N0VTLAPolicy",
  "config_name": "vtla_tactile_posttrain",
  "pi05": true,
  "paligemma_variant": "gemma_2b",
  "action_expert_variant": "gemma_300m",
  "action_dim": 32,
  "action_horizon": 50,
  "tactile_predictor_enabled": true,
  "tactile_mode": "latent",
  "n_latent": 5,
  "predictor_arch": "tactile_kv",
  "z_gate_zero_init": true,
  "vl_dropout_prob": 0.15,
  "tactile_encoder": "frozen DINOv2 (facebook/dinov2-base)",
  "tactile_image_keys": [
    "left_wrist_left_tactile",
    "left_wrist_right_tactile",
    "right_wrist_left_tactile",
    "right_wrist_right_tactile"
  ],
  "action_representation": "element-wise delta (subtraction), rot6d rotation, absolute on disk",
  "n_execute_at_serve": 50
}