| { |
| "type": "evo1", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.images.front": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 480, |
| 640 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": true, |
| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": "imstevenpmwork/super_chatton_evo1_stage1", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "training_stage": "stage1", |
| "chunk_size": 50, |
| "n_action_steps": 50, |
| "max_state_dim": 6, |
| "max_action_dim": 6, |
| "max_views": 3, |
| "image_resolution": [ |
| 448, |
| 448 |
| ], |
| "empty_cameras": 0, |
| "postprocess_action_dim": null, |
| "binarize_gripper": false, |
| "gripper_index": 6, |
| "gripper_threshold": 0.5, |
| "gripper_below_threshold_value": 1.0, |
| "gripper_above_threshold_value": -1.0, |
| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MIN_MAX", |
| "ACTION": "MIN_MAX" |
| }, |
| "vlm_model_name": "OpenGVLab/InternVL3-1B-hf", |
| "vlm_num_layers": 14, |
| "vlm_dtype": "bfloat16", |
| "use_flash_attn": true, |
| "action_head": "flowmatching", |
| "embed_dim": 896, |
| "hidden_dim": 1024, |
| "state_hidden_dim": 1024, |
| "num_heads": 8, |
| "num_layers": 8, |
| "dropout": 0.0, |
| "num_inference_timesteps": 32, |
| "num_categories": 1, |
| "return_cls_only": false, |
| "enable_gradient_checkpointing": true, |
| "gradient_checkpointing_use_reentrant": false, |
| "finetune_vlm": false, |
| "finetune_language_model": false, |
| "finetune_vision_model": false, |
| "finetune_action_head": true, |
| "apply_training_stage_defaults": true, |
| "task_field": "task", |
| "embodiment_id_field": null, |
| "default_embodiment_id": 0, |
| "optimizer_lr": 0.0002, |
| "optimizer_betas": [ |
| 0.9, |
| 0.999 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 1e-05, |
| "optimizer_grad_clip_norm": 1.0, |
| "scheduler_warmup_steps": 500, |
| "drop_last": true |
| } |