| { |
| "type": "dynamicvla", |
| "n_obs_steps": 2, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MEAN_STD", |
| "ACTION": "MEAN_STD" |
| }, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.images.wrist_cam": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 360, |
| 480 |
| ] |
| }, |
| "observation.images.opst_cam": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 360, |
| 480 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 7 |
| ] |
| } |
| }, |
| "device": "cuda:0", |
| "use_amp": false, |
| "push_to_hub": true, |
| "repo_id": null, |
| "private": null, |
| "tags": null, |
| "license": null, |
| "chunk_size": 20, |
| "n_action_steps": 20, |
| "max_state_dim": 32, |
| "max_action_dim": 32, |
| "resize_imgs_with_padding": [ |
| 384, |
| 384 |
| ], |
| "empty_cameras": 0, |
| "adapt_to_pi_aloha": false, |
| "use_delta_joint_actions_aloha": false, |
| "use_delta_action": true, |
| "enable_streaming": false, |
| "temporal_fusion": "attn", |
| "tokenizer_max_length": 48, |
| "num_steps": 10, |
| "use_cache": true, |
| "freeze_vision_model": false, |
| "freeze_connector": false, |
| "freeze_text_model": false, |
| "train_state_proj": true, |
| "optimizer_lr": 0.0001, |
| "optimizer_betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 1e-10, |
| "optimizer_grad_clip_norm": 10, |
| "scheduler_warmup_steps": 1000, |
| "scheduler_decay_steps": 30000, |
| "scheduler_decay_lr": 2.5e-06, |
| "attention_mode": "cross_attn", |
| "prefix_length": -1, |
| "pad_language_to": "longest", |
| "num_expert_layers": -1, |
| "num_expert_skip_layers": 0, |
| "vlm_model_name": "HuggingFaceTB/SmolLM2-360M", |
| "num_vlm_layers": 16, |
| "smolvlm_patch_size": 16, |
| "smolvlm_attention_heads": 12, |
| "smolvlm_hidden_size": 768, |
| "smolvlm_intermediate_size": 3072, |
| "fastvlm_inference_mode": true, |
| "self_attn_every_n_layers": 2, |
| "expert_width_multiplier": 0.75, |
| "min_period": 0.004, |
| "max_period": 4.0, |
| "delta_timestamps": { |
| "observation": [ |
| -2, |
| 0 |
| ] |
| } |
| } |
|
|
