| { |
| "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" |
| } |
| } |
