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vf_stackblocks_recap_gemma3_v1

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LeRobot
Safetensors
reward-model
distributional_value_function
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vf_stackblocks_recap_gemma3_v1
File size: 1,828 Bytes
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{
    "type": "distributional_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_recap_gemma3_v1",
    "license": null,
    "tags": null,
    "private": null,
    "siglip_path": "google/siglip2-so400m-patch14-384",
    "gemma3_path": "google/gemma-3-270m",
    "vlm_pretrained_path": null,
    "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,
    "image_resolution": [
        448,
        448
    ],
    "num_image_tokens": 256,
    "tokenizer_max_length": 200,
    "value_dropout": 0.1,
    "freeze_vision_encoder": true,
    "freeze_language_model": false,
    "stop_gradient_to_vlm": false,
    "optimizer_vision_lr": 1e-06,
    "optimizer_language_model_lr": 1e-05,
    "optimizer_multimodal_projector_lr": 5e-05,
    "optimizer_value_query_lr": 0.0001,
    "optimizer_value_head_lr": 0.0001,
    "optimizer_weight_decay": 0.01,
    "scheduler_warmup_steps": 500,
    "scheduler_decay_steps": 12000,
    "scheduler_decay_lr": 1e-06,
    "vision_encoder_lr_multiplier": 0.5,
    "normalization_mapping": {
        "VISUAL": "IDENTITY"
    }
}