Upload PoseVLA checkpoint

.gitattributes

@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+tokenizer.json filter=lfs diff=lfs merge=lfs -text

config.json

@@ -0,0 +1,47 @@
+{
+    "type": "pi0_ours",
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "IDENTITY",
+        "ACTION": "IDENTITY"
+    },
+    "input_features": {},
+    "output_features": {},
+    "chunk_size": 50,
+    "n_action_steps": 50,
+    "max_state_dim": 32,
+    "max_action_dim": 32,
+    "resize_imgs_with_padding": [
+        224,
+        224
+    ],
+    "empty_cameras": 0,
+    "tokenizer_max_length": 512,
+    "tokenizer_model_path": "google/paligemma-3b-pt-224",
+    "proj_width": 1024,
+    "num_steps": 10,
+    "use_cache": true,
+    "attention_implementation": "eager",
+    "pi05": false,
+    "is_knowledge_insulation": false,
+    "add_extra_token": true,
+    "add_image_token": true,
+    "add_prior": true,
+    "freeze_vision_encoder": false,
+    "train_expert_only": false,
+    "train_state_proj": true,
+    "optimizer_lr": 5e-05,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-10,
+    "scheduler_warmup_steps": 16000,
+    "scheduler_decay_steps": 1280000,
+    "scheduler_decay_lr": 5e-06,
+    "vis_attn": true,
+    "skip_init_weights": false,
+    "device": "cpu"
+}

model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:206742d74694c645f57d9dca4859de17c03f789b2d85c5afed4b4ea792ef09bd
+size 6533190976

special_tokens_map.json

@@ -0,0 +1,33 @@
+{
+  "additional_special_tokens": [
+    "<image>"
+  ],
+  "bos_token": {
+    "content": "<bos>",
+    "lstrip": false,
+    "normalized": false,
+    "rstrip": false,
+    "single_word": false
+  },
+  "eos_token": {
+    "content": "<eos>",
+    "lstrip": false,
+    "normalized": false,
+    "rstrip": false,
+    "single_word": false
+  },
+  "pad_token": {
+    "content": "<pad>",
+    "lstrip": false,
+    "normalized": false,
+    "rstrip": false,
+    "single_word": false
+  },
+  "unk_token": {
+    "content": "<unk>",
+    "lstrip": false,
+    "normalized": false,
+    "rstrip": false,
+    "single_word": false
+  }
+}

tokenizer.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:096a73268dbf1a04677304baf37ee8f3c04fcaac74870fc7161147b40802f8b1
+size 35828586