{ "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_evo2", "private": null, "tags": null, "license": null, "pretrained_path": null, "training_stage": "stage2", "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": true, "finetune_language_model": true, "finetune_vision_model": true, "finetune_action_head": true, "apply_training_stage_defaults": true, "task_field": "task", "embodiment_id_field": null, "default_embodiment_id": 0, "optimizer_lr": 0.0001, "optimizer_betas": [ 0.9, 0.999 ], "optimizer_eps": 1e-08, "optimizer_weight_decay": 1e-05, "optimizer_grad_clip_norm": 1.0, "scheduler_warmup_steps": 1000, "drop_last": true }