| { | |
| "type": "vla_adapter", | |
| "n_obs_steps": 1, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "input_features": { | |
| "observation.images.image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.wrist_image": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 8 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 7 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "push_to_hub": true, | |
| "repo_id": "k1000dai/vla_adapter_libero_scratch", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "chunk_size": 8, | |
| "n_action_steps": 8, | |
| "max_state_dim": 64, | |
| "max_action_dim": 32, | |
| "resize_imgs_with_padding": [ | |
| 224, | |
| 224 | |
| ], | |
| "tokenizer_name": null, | |
| "tokenizer_max_length": 128, | |
| "vlm_model_name": "Qwen/Qwen2.5-0.5B", | |
| "freeze_vlm": false, | |
| "patch_size": 14, | |
| "num_action_queries": 64, | |
| "policy_hidden_size": 384, | |
| "policy_num_layers": null, | |
| "policy_num_heads": 8, | |
| "policy_mlp_ratio": 4.0, | |
| "bridge_ratio_init": 0.0, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 0.0001, | |
| "optimizer_grad_clip_norm": 1.0, | |
| "scheduler_warmup_steps": 2000, | |
| "scheduler_decay_steps": 50000, | |
| "scheduler_decay_lr": 1e-05, | |
| "use_delta_joint_actions": false | |
| } | |