vla_config.json

{
  "schema_version": "task23_dinov2_self_contained_v1",
  "model_type": "dinov2_frozen_vision_action_chunk",
  "backbone": "facebook/dinov2-base",
  "chunk": 8,
  "feature_dim": 768,
  "text_dim": 128,
  "proprio_dim": 32,
  "task_count": 14,
  "difficulty_count": 5,
  "proprio_mean": [
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    5.485948349814862e-06,
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  ],
  "proprio_std": [
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    0.28867337107658386,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0
  ],
  "task_to_id": {
    "lift_cube": 0,
    "pick_place_can": 1,
    "pick_place_milk": 2,
    "pick_place_bread": 3,
    "pick_place_cereal": 4,
    "pick_place_clutter": 5,
    "stack_blocks": 6,
    "open_door": 7,
    "nut_assembly": 8,
    "nut_assembly_square": 9,
    "nut_assembly_round": 10,
    "wipe_table": 11,
    "tool_hang": 12
  },
  "difficulty_to_id": {
    "low": 0,
    "medium": 1,
    "hard": 2,
    "very_high": 3
  },
  "local_files_only": true,
  "adapter_inputs": [
    "image",
    "instruction",
    "proprio",
    "task",
    "step",
    "difficulty",
    "horizon"
  ]
}