config.json

{
  "_note": "N0-VTLA UniVTAC single-arm policy. Load with the sim_single_arm_tactile config in https://github.com/neoteai/N0-VTLA",
  "type": "n0vtla",
  "model_class": "n0vtla.models_pytorch.n0vtla_policy.N0VTLAPolicy",
  "config_name": "sim_single_arm_tactile",
  "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": false,
  "tactile_encoder": "frozen DINOv2 (facebook/dinov2-base)",
  "tactile_image_keys": [
    "tactile_a",
    "tactile_b"
  ],
  "embodiment": "single-arm",
  "action_space": "joint",
  "raw_action_dim": 8,
  "action_representation": "element-wise joint delta, gripper absolute",
  "norm_stats_asset_id": "n0_insert_hole_norm",
  "n_execute_at_serve": 50
}