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VLA-0-Smol

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VLA-0-Smol
File size: 1,947 Bytes 
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{
    "type": "vla0_smol",
    "n_obs_steps": 1,
    "input_features": {
        "observation.images.image": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "observation.images.image2": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "observation.state": {
            "type": "STATE",
            "shape": [
                8
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                7
            ]
        }
    },
    "device": "cuda",
    "use_amp": true,
    "amp_dtype": "bf16",
    "push_to_hub": true,
    "repo_id": "olegbalakhnov/libero_vla0_final",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "chunk_size": 8,
    "n_action_steps": 8,
    "ensemble_size": 0,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "MIN_MAX",
        "ACTION": "MIN_MAX"
    },
    "n_action_bins": 512,
    "n_state_bins": 512,
    "max_decoding_steps": 512,
    "use_cache": true,
    "optimizer_lr": 5e-05,
    "optimizer_betas": [
        0.9,
        0.95
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 0.01,
    "scheduler_warmup_steps": 1000,
    "scheduler_decay_steps": 100000,
    "scheduler_decay_lr": 5e-06,
    "checkpoint_path": null,
    "vlm_checkpoint": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
    "precision": "float32",
    "freeze_vision_encoder": false,
    "do_image_splitting": false,
    "drop_n_last_frames": 1,
    "relative_actions": false,
    "use_state": true,
    "start_actions_token": 49279,
    "grad_clip_norm": 1.0,
    "action_mask_aug_per": 0.15,
    "action_mask_skip_per": 0.1,
    "crop_shape": [
        230,
        230
    ]
}