| { | |
| "_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 | |
| } | |