{ "type": "vla", "n_obs_steps": 1, "input_features": { "observation.state": { "type": "STATE", "shape": [ 7 ] }, "observation.images.wrist": { "type": "VISUAL", "shape": [ 3, 256, 256 ] }, "observation.images.front": { "type": "VISUAL", "shape": [ 3, 256, 256 ] }, "observation.vfm_features.wrist": { "type": "STATE", "shape": [ 16, 16, 768 ] }, "observation.vfm_features.front": { "type": "STATE", "shape": [ 16, 16, 768 ] }, "observation.skill_feature": { "type": "STATE", "shape": [ 1024 ] }, "observation.object_feature": { "type": "STATE", "shape": [ 1024 ] }, "observation.vlm_features.wrist": { "type": "STATE", "shape": [ 16, 16, 1024 ] }, "observation.vlm_features.front": { "type": "STATE", "shape": [ 16, 16, 1024 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 7 ] } }, "device": "cuda:0", "use_amp": false, "push_to_hub": true, "repo_id": "Tsagkas/vla_state_modulation_v2_chunk", "private": null, "tags": null, "license": null, "pretrained_path": null, "num_cameras": 2, "chunk_size": 100, "n_action_steps": 100, "state_dim": 7, "action_dim": 7, "state_hidden_dim": 256, "state_output_dim": 768, "num_transformer_heads": 12, "transformer_hidden_dim": 768, "transformer_expansion_factor": 4, "attention_probs_dropout_prob": 0.0, "hidden_dropout_prob": 0.1, "temporal_ensemble_coeff": 0.01, "optimizer_lr": 0.0001, "optimizer_weight_decay": 0.0001, "normalization_mapping": { "VISUAL": "IDENTITY", "STATE": "MEAN_STD", "ACTION": "MEAN_STD" } }