{
    "type": "vla_jepa",
    "n_obs_steps": 1,
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                16
            ]
        },
        "observation.images.left_wrist": {
            "type": "VISUAL",
            "shape": [
                3,
                720,
                1280
            ]
        },
        "observation.images.right_wrist": {
            "type": "VISUAL",
            "shape": [
                3,
                720,
                1280
            ]
        },
        "observation.images.base": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                16
            ]
        }
    },
    "device": "cuda",
    "use_amp": true,
    "use_peft": false,
    "push_to_hub": false,
    "repo_id": "chalkp/vla-jepa-folding",
    "private": false,
    "tags": [
        "vla-jepa",
        "folding",
        "bimanual",
        "fine-tuned"
    ],
    "license": "apache-2.0",
    "pretrained_path": "chalkp/vla-jepa-folding",
    "chunk_size": 7,
    "n_action_steps": 7,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "QUANTILES",
        "ACTION": "QUANTILES"
    },
    "qwen_model_name": "Qwen/Qwen3-VL-2B-Instruct",
    "jepa_encoder_name": "facebook/vjepa2-vitl-fpc64-256",
    "freeze_qwen": true,
    "enable_world_model": false,
    "reinit_modules": [
        "model.action_model.action_encoder",
        "model.action_model.action_decoder",
        "model.action_model.state_encoder"
    ],
    "tokenizer_padding_side": "left",
    "prompt_template": "Your task is {instruction}. Infer the temporal dynamics from frames {actions} and produce the corresponding policy actions {e_actions}.",
    "special_action_token": "<|action_{}|>",
    "embodied_action_token": "<|embodied_action|>",
    "action_dim": 16,
    "state_dim": 16,
    "num_action_tokens_per_timestep": 8,
    "num_embodied_action_tokens_per_instruction": 32,
    "num_inference_timesteps": 4,
    "action_hidden_size": 1024,
    "action_model_type": "DiT-B",
    "action_num_layers": 16,
    "action_num_heads": 12,
    "action_attention_head_dim": 64,
    "action_dropout": 0.2,
    "action_num_timestep_buckets": 1000,
    "action_noise_beta_alpha": 1.5,
    "action_noise_beta_beta": 1.0,
    "action_noise_s": 0.999,
    "num_target_vision_tokens": 32,
    "action_max_seq_len": 1024,
    "num_video_frames": 8,
    "predictor_depth": 12,
    "predictor_num_heads": 8,
    "predictor_mlp_ratio": 4.0,
    "predictor_dropout": 0.0,
    "world_model_loss_weight": 0.1,
    "jepa_tubelet_size": 2,
    "repeated_diffusion_steps": 8,
    "resize_images_to": [
        224,
        224
    ],
    "binarize_gripper_action": false,
    "pre_snap_gripper_action": false,
    "clip_normalized_actions": true,
    "gripper_dim": 7,
    "gripper_threshold": 0.5,
    "torch_dtype": "bfloat16",
    "optimizer_lr": 3.75e-05,
    "optimizer_betas": [
        0.9,
        0.95
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 0.01,
    "optimizer_grad_clip_norm": 1.0,
    "scheduler_warmup_steps": 1000,
    "scheduler_decay_steps": 40000,
    "scheduler_decay_lr": 2.5e-06
}