{
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    "n_obs_steps": 1,
    "input_features": {
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            "shape": [
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        },
        "observation.images.right_wrist": {
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            ]
        },
        "observation.images.left_wrist": {
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        },
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        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
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        }
    },
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": true,
    "repo_id": "maximellerbach/folding_vla_jepa",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": "/fsx/maxime_ellerbach/robots/outputs/train/folding_vla_jepa_multinode_3711/checkpoints/last/pretrained_model",
    "pretrained_revision": null,
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    "n_action_steps": 30,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "MEAN_STD",
        "ACTION": "MEAN_STD"
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    "qwen_model_name": "Qwen/Qwen3-VL-2B-Instruct",
    "jepa_encoder_name": "facebook/vjepa2-vitl-fpc64-256",
    "freeze_qwen": false,
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        "model.action_model.action_encoder",
        "model.action_model.action_decoder",
        "model.action_model.state_encoder"
    ],
    "tokenizer_padding_side": "left",
    "prompt_template": "Your task is {instruction}. Infer the temporal dynamics from frames {actions} and produce the corresponding policy actions {e_actions}.",
    "special_action_token": "<|action_{}|>",
    "embodied_action_token": "<|embodied_action|>",
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    "use_relative_actions": true,
    "relative_exclude_joints": [
        "gripper"
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        "right_joint_1.pos",
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        "right_joint_3.pos",
        "right_joint_4.pos",
        "right_joint_5.pos",
        "right_joint_6.pos",
        "right_joint_7.pos",
        "right_gripper.pos",
        "left_joint_1.pos",
        "left_joint_2.pos",
        "left_joint_3.pos",
        "left_joint_4.pos",
        "left_joint_5.pos",
        "left_joint_6.pos",
        "left_joint_7.pos",
        "left_gripper.pos"
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    "num_video_frames": 8,
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    "predictor_num_heads": 8,
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    "jepa_tubelet_size": 2,
    "repeated_diffusion_steps": 8,
    "resize_images_to": [
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    "binarize_gripper_action": false,
    "pre_snap_gripper_action": false,
    "clip_normalized_actions": false,
    "gripper_dim": 6,
    "gripper_threshold": 0.5,
    "torch_dtype": "bfloat16",
    "optimizer_lr": 2e-05,
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    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 1e-08,
    "optimizer_grad_clip_norm": 1.0,
    "scheduler_warmup_steps": 500,
    "scheduler_decay_steps": 30000,
    "scheduler_decay_lr": 2e-05
}