| { | |
| "_note": "N0-VTLA UniVTAC dual-arm policy. Load with the sim_dual_arm_tactile config in https://github.com/neoteai/N0-VTLA", | |
| "type": "n0vtla", | |
| "model_class": "n0vtla.models_pytorch.n0vtla_policy.N0VTLAPolicy", | |
| "config_name": "sim_dual_arm_tactile", | |
| "pi05": true, | |
| "paligemma_variant": "gemma_2b", | |
| "action_expert_variant": "gemma_300m", | |
| "action_dim": 32, | |
| "action_horizon": 16, | |
| "tactile_predictor_enabled": true, | |
| "tactile_mode": "latent", | |
| "n_latent": 5, | |
| "predictor_arch": "tactile_kv", | |
| "z_gate_zero_init": false, | |
| "tactile_encoder": "frozen DINOv2 (facebook/dinov2-base)", | |
| "tactile_image_keys": [ | |
| "tactile_a", | |
| "tactile_b", | |
| "tactile_c", | |
| "tactile_d" | |
| ], | |
| "embodiment": "dual-arm", | |
| "action_space": "joint", | |
| "raw_action_dim": 16, | |
| "action_representation": "element-wise joint delta, gripper absolute", | |
| "norm_stats_asset_id": "n0_dual_bowl_place_stack_norm", | |
| "n_execute_at_serve": 16 | |
| } | |