{ "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 }