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openvla
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Upload policy weights, train config and readme
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{
"type": "openvla",
"n_obs_steps": 1,
"input_features": {
"observation.images.image": {
"type": "VISUAL",
"shape": [
3,
224,
224
]
},
"observation.images.image2": {
"type": "VISUAL",
"shape": [
3,
224,
224
]
},
"observation.state": {
"type": "STATE",
"shape": [
8
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
7
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": true,
"push_to_hub": true,
"repo_id": "globcy/openvla_high_level_dir_only_90_bottom_up",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"pretrained_checkpoint": "/pfss/mlde/workspaces/mlde_wsp_Rohrbach/users/cb14syta/Embodied-CoT/steerable-policy-embodied-reasoner-7b",
"text_tokenizer_name": "meta-llama/Llama-2-7b-hf",
"tokenizer_max_length": 2048,
"dtype": "bfloat16",
"reason": false,
"chunk_size": 25,
"image_resolution": [
224,
224
],
"hierarchical": true,
"dynamic_action_chunking": "move",
"gradient_checkpointing": true,
"compile_model": false,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"optimizer_lr": 0.00025,
"optimizer_weight_decay": 0.0,
"optimizer_grad_clip_norm": 1.0
}