| { |
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| "n_obs_steps": 1, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
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| ] |
| }, |
| "observation.images.wrist": { |
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| ] |
| }, |
| "observation.images.top": { |
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| 3, |
| 480, |
| 640 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "use_peft": false, |
| "push_to_hub": true, |
| "repo_id": "maximellerbach/omx_multicubes_lawam", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": null, |
| "pretrained_revision": null, |
| "chunk_size": 30, |
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| "normalization_mapping": { |
| "VISUAL": "IDENTITY", |
| "STATE": "MIN_MAX", |
| "ACTION": "MIN_MAX" |
| }, |
| "base_vlm": "Qwen/Qwen3-VL-2B-Instruct", |
| "lam_ckpt_path": "/fsx/maxime_ellerbach/ckpts/lawam_lam/checkpoints/pytorch_model.pt", |
| "lam_yaml_path": "/fsx/maxime_ellerbach/robots/runs/lawam/review_pr3999/dino_large_vae_localdinov3.yaml", |
| "hf_cache_dir": null, |
| "lawam_checkpoint_path": null, |
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| "lawam_unnorm_key": null, |
| "primary_image_features": [ |
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| ], |
| "wrist_image_features": [ |
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| ], |
| "default_task": "Execute the robot action.", |
| "action_hz": 30.0, |
| "embodiment_id": 25, |
| "enable_primary_video_aug": false, |
| "enable_primary_random_resized_crop": false, |
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| "flow_use_state": false, |
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| "flow_num_timestep_buckets": 1000, |
| "flow_interleave_self_attention": true, |
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| "flow_use_action_positional_embeddings": true, |
| "clip_normalized_actions": true, |
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| "binarize_gripper_action": true, |
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| "scheduler_decay_lr": 5e-07 |
| } |
