{
  "model_family": "univla",
  "pred_action_horizon": 30,
  "action_decoders": [
    "action_decoder-5000.pt",
    "action_decoder-10000.pt"
  ],
  "notes": "BridgeV2 finetune from UniVLA Bridge LAM stage2 VLA50K, equal lr 3.5e-4, b16, ws30"
}