| { | |
| "type": "temporal_siglip_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_temporal_siglip_hl_v1", | |
| "license": null, | |
| "tags": null, | |
| "private": null, | |
| "siglip_path": "google/siglip2-so400m-patch14-384", | |
| "image_resolution": [ | |
| 384, | |
| 384 | |
| ], | |
| "tokenizer_max_length": 64, | |
| "history_steps": 6, | |
| "frame_gap": 30, | |
| "state_key": "observation.state", | |
| "state_dim": 32, | |
| "hidden_size": 512, | |
| "num_layers": 4, | |
| "num_heads": 8, | |
| "dropout": 0.1, | |
| "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": true, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD" | |
| } | |
| } |