| { | |
| "adapter_config": { | |
| "attention_dropout": 0.0, | |
| "float32_attention": true, | |
| "head_dim": 72, | |
| "hidden_act": "silu", | |
| "hidden_size": 1152, | |
| "image_feature_dropout": 0.0, | |
| "image_padding_embed": null, | |
| "initializer_range": 0.02, | |
| "intermediate_size": 18944, | |
| "model_type": "", | |
| "num_attention_heads": 16, | |
| "num_key_value_heads": 16, | |
| "residual_dropout": 0.0, | |
| "text_hidden_size": 3584, | |
| "vit_layers": [ | |
| -3, | |
| -9 | |
| ] | |
| }, | |
| "architectures": [ | |
| "SPRVLAForActionReasoning" | |
| ], | |
| "auto_map": { | |
| "AutoConfig": "configuration_sprvla.SPRVLAConfig", | |
| "AutoModelForImageTextToText": "modeling_sprvla.SPRVLAForActionReasoning" | |
| }, | |
| "image_patch_id": 152066, | |
| "initializer_range": 0.02, | |
| "llm_config": { | |
| "additional_vocab_size": 128, | |
| "attention_dropout": 0.0, | |
| "embedding_dropout": 0.0, | |
| "head_dim": 128, | |
| "hidden_act": "silu", | |
| "hidden_size": 3584, | |
| "initializer_range": 0.02, | |
| "intermediate_size": 18944, | |
| "layer_norm_eps": 1e-06, | |
| "max_position_embeddings": 4096, | |
| "model_type": "sprvla_llm", | |
| "norm_after": false, | |
| "num_attention_heads": 28, | |
| "num_hidden_layers": 28, | |
| "num_key_value_heads": 4, | |
| "qk_norm_type": "olmo", | |
| "qkv_bias": true, | |
| "residual_dropout": 0.0, | |
| "rope_scaling": null, | |
| "rope_theta": 1000000.0, | |
| "use_cache": true, | |
| "use_qk_norm": false, | |
| "vocab_size": 152064 | |
| }, | |
| "model_type": "sprvla", | |
| "n_action_bins": 256, | |
| "norm_stats": { | |
| "sprvla": { | |
| "action": { | |
| "max": [ | |
| 0.06042003631591797, | |
| 0.09417290985584259, | |
| 0.07019275426864624, | |
| 0.2616892158985138, | |
| 0.11751057207584381, | |
| 0.16968433558940887, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.0005706787342205644, | |
| 0.0002448957529850304, | |
| -3.5987635783385485e-05, | |
| 0.00021597897284664214, | |
| -0.0004896928439848125, | |
| -0.000241481073317118, | |
| 0.5570635199546814 | |
| ], | |
| "min": [ | |
| -0.07434078305959702, | |
| -0.07339745759963989, | |
| -0.06539416313171387, | |
| -0.1688285619020462, | |
| -0.10289879888296127, | |
| -0.2667275667190552, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.01538565568625927, | |
| -0.021047022193670273, | |
| -0.01688069850206375, | |
| -0.044314172118902206, | |
| -0.03890235349535942, | |
| -0.04788423702120781, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.014661382883787155, | |
| 0.026515591889619827, | |
| 0.021398313343524933, | |
| 0.04216696694493294, | |
| 0.03401297703385353, | |
| 0.04957397282123566, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.005207270849496126, | |
| 0.007506529800593853, | |
| 0.006415561307221651, | |
| 0.013248044066131115, | |
| 0.010928540490567684, | |
| 0.014873150736093521, | |
| 0.49715080857276917 | |
| ] | |
| }, | |
| "num_entries": 1560068 | |
| }, | |
| "libero_object_no_noops_modified": { | |
| "action": { | |
| "max": [ | |
| 0.9375, | |
| 0.8919642567634583, | |
| 0.9375, | |
| 0.17678570747375488, | |
| 0.35035714507102966, | |
| 0.1810714304447174, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.07096529006958008, | |
| 0.13498851656913757, | |
| -0.04601382836699486, | |
| 0.00123520044144243, | |
| 0.006998839322477579, | |
| -0.015027612447738647, | |
| 0.46428999304771423 | |
| ], | |
| "min": [ | |
| -0.8839285969734192, | |
| -0.9375, | |
| -0.9375, | |
| -0.15000000596046448, | |
| -0.29035714268684387, | |
| -0.32892856001853943, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -0.5383928418159485, | |
| -0.8758928775787354, | |
| -0.9375, | |
| -0.06964285671710968, | |
| -0.11678571254014969, | |
| -0.15964286029338837, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.8464285731315613, | |
| 0.84375, | |
| 0.9375, | |
| 0.08142857253551483, | |
| 0.14892856776714325, | |
| 0.0867857113480568, | |
| 1.0 | |
| ], | |
| "std": [ | |
| 0.2681235373020172, | |
| 0.43846824765205383, | |
| 0.4474974274635315, | |
| 0.024446550756692886, | |
| 0.049355510622262955, | |
| 0.042107198387384415, | |
| 0.49879148602485657 | |
| ] | |
| }, | |
| "num_trajectories": 454, | |
| "num_transitions": 66984, | |
| "proprio": { | |
| "max": [ | |
| 0.14580604434013367, | |
| 0.33216384053230286, | |
| 0.3857804834842682, | |
| 3.4003844261169434, | |
| 0.7954911589622498, | |
| 0.6642207503318787, | |
| 0.0, | |
| 0.04104341194033623, | |
| -0.00018117300351150334 | |
| ], | |
| "mean": [ | |
| -0.02999030612409115, | |
| -0.007947085425257683, | |
| 0.20293472707271576, | |
| 3.1086409091949463, | |
| -0.21404768526554108, | |
| -0.11307074874639511, | |
| 0.0, | |
| 0.029380427673459053, | |
| -0.030556727200746536 | |
| ], | |
| "min": [ | |
| -0.1765444278717041, | |
| -0.29457300901412964, | |
| 0.008128180168569088, | |
| 2.2890501022338867, | |
| -1.883241891860962, | |
| -1.0600427389144897, | |
| 0.0, | |
| 0.0006495157140307128, | |
| -0.041782498359680176 | |
| ], | |
| "q01": [ | |
| -0.14911890715360643, | |
| -0.25978428691625594, | |
| 0.009925739830359817, | |
| 2.7545341420173646, | |
| -1.3996034812927245, | |
| -0.6867720144987106, | |
| 0.0, | |
| 0.008197814421728254, | |
| -0.04015838988125324 | |
| ], | |
| "q99": [ | |
| 0.09063626825809479, | |
| 0.29066365867853167, | |
| 0.3370887073874472, | |
| 3.2611824750900267, | |
| 0.32092821151018125, | |
| 0.4037663781642913, | |
| 0.0, | |
| 0.039891827926039694, | |
| -0.009106044843792932 | |
| ], | |
| "std": [ | |
| 0.06694897264242172, | |
| 0.17608462274074554, | |
| 0.07807064801454544, | |
| 0.0868484303355217, | |
| 0.33540457487106323, | |
| 0.20728276669979095, | |
| 0.0, | |
| 0.00956575945019722, | |
| 0.009197483770549297 | |
| ] | |
| } | |
| } | |
| }, | |
| "tie_word_embeddings": false, | |
| "torch_dtype": "bfloat16", | |
| "transformers_version": "4.52.1", | |
| "use_cache": true, | |
| "vit_config": { | |
| "attention_dropout": 0.0, | |
| "float32_attention": true, | |
| "head_dim": 72, | |
| "hidden_act": "gelu_pytorch_tanh", | |
| "hidden_size": 1152, | |
| "image_default_input_size": [ | |
| 378, | |
| 378 | |
| ], | |
| "image_num_pos": 729, | |
| "image_patch_size": 14, | |
| "initializer_range": 0.02, | |
| "intermediate_size": 4304, | |
| "layer_norm_eps": 1e-06, | |
| "model_type": "sprvla_vit", | |
| "num_attention_heads": 16, | |
| "num_hidden_layers": 27, | |
| "num_key_value_heads": 16, | |
| "patch_bias": true, | |
| "pre_layernorm": false, | |
| "residual_dropout": 0.0, | |
| "use_cls_token": false | |
| } | |
| } |