{ "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 }