| { | |
| "type": "nanovlm_value_function", | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "observation.images.top": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ] | |
| } | |
| }, | |
| "output_features": {}, | |
| "device": "cuda", | |
| "pretrained_path": null, | |
| "pretrained_revision": null, | |
| "push_to_hub": true, | |
| "repo_id": "lilkm/vf_stackblocks_nanovlm_probe_hl_v2", | |
| "license": null, | |
| "tags": null, | |
| "private": null, | |
| "nanovlm_pretrained_path": "lusxvr/nanoVLM-460M-8k", | |
| "nanovlm_code_path": "third_party/nanoVLM", | |
| "tokenizer_max_length": 8192, | |
| "num_value_bins": 201, | |
| "value_support_min": -1.0, | |
| "value_support_max": 0.0, | |
| "hl_gauss_sigma_ratio": 0.75, | |
| "target_method": "hl_gauss", | |
| "use_one_hot_terminal": false, | |
| "value_dropout": 0.0, | |
| "freeze_vision_encoder": true, | |
| "freeze_multimodal_projector": true, | |
| "freeze_language_model": true, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY" | |
| } | |
| } |