{ "type": "lingbot_vla_v2", "n_obs_steps": 1, "input_features": { "observation.state": { "type": "STATE", "shape": [ 6 ] }, "observation.images.wrist": { "type": "VISUAL", "shape": [ 3, 480, 640 ] }, "observation.images.top": { "type": "VISUAL", "shape": [ 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_lingbot_vla_v2", "private": null, "tags": null, "license": null, "pretrained_path": "robbyant/lingbot-vla-v2-6b", "pretrained_revision": null, "chunk_size": 50, "n_action_steps": 50, "max_action_dim": 55, "max_state_dim": 55, "normalization_mapping": { "VISUAL": "IDENTITY", "STATE": "MEAN_STD", "ACTION": "MEAN_STD" }, "tokenizer_path": "Qwen/Qwen3-VL-4B-Instruct", "vlm_family": "qwen3_vl", "tokenizer_max_length": 72, "resize_imgs_with_padding": [ 224, 224 ], "image_max_pixels": 262144, "image_min_pixels": 131072, "num_steps": 10, "robot_config_path": "/fsx/maxime_ellerbach/robots/runs/lingbot_vla_v2/omx_multicubes_robot_config.yaml", "norm_stats_path": "/fsx/maxime_ellerbach/robots/runs/lingbot_vla_v2/omx_multicubes_norm_stats.json", "processor_path": "Qwen/Qwen3-VL-4B-Instruct", "dtype": "bfloat16", "canonical_joints": { "arm.position": 14, "end.position": 14, "effector.position": 2, "hand.position": 12, "waist.position": 4, "head.position": 2, "base.velocity": 3, "reserved.slots": 4 }, "canonical_norm_type": { "arm.position": "meanstd", "end.position": "meanstd", "effector.position": "meanstd", "hand.position": "meanstd", "waist.position": "meanstd", "head.position": "meanstd", "base.velocity": "meanstd", "reserved.slots": "meanstd" }, "canonical_cameras": [ "camera_top", "camera_wrist_left", "camera_wrist_right" ], "use_qwen3_chat_template": true, "return_image_grid_thw": true, "qwen3vl_use_vision_boundaries": true, "precompute_grid_thw": false, "use_qwen3_fixed_grid_cache": true, "expert_hidden_size": 768, "expert_intermediate_size": 2752, "action_num_attention_heads": 32, "action_num_key_value_heads": 8, "action_head_dim": 128, "action_fp32": false, "use_moe": true, "token_moe_layers": [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35 ], "token_num_experts": 32, "token_top_k": 4, "token_moe_intermediate_size": 512, "token_shared_intermediate_size": 704, "bias_update_speed": 0.0, "bias_centering": false, "bias_update_interval": 1, "sequence_wise_loss_coeff": 0.001, "sequence_wise_mode": "per_sequence", "router_z_loss_coeff": 0.0001, "router_activation": "sigmoid", "routed_scaling_factor": 4.0, "use_shared_expert_gate": false, "moe_implementation": "fused", "use_depth": false, "num_task_tokens": 8, "align_params": {}, "enable_expert_vision": false, "expert_vision_type": null, "attention_implementation": "eager", "vit_attn_implementation": "eager", "use_cache": true, "post_training": true, "freeze_vision_encoder": true, "train_expert_only": false, "train_state_proj": true, "vlm_causal": false, "vocab_size": 0, "use_lm_head": false, "loss_type": "fm", "adanorm_time": true, "split_gate_liner": false, "nosplit_gate_liner": false, "separate_time_proj": false, "final_norm_adanorm": false, "norm_qkv": false, "optimizer_lr": 1e-05, "optimizer_betas": [ 0.9, 0.95 ], "optimizer_eps": 1e-08, "optimizer_weight_decay": 0.0, "optimizer_grad_clip_norm": 1.0, "scheduler_warmup_steps": 1000, "scheduler_decay_steps": 30000, "scheduler_decay_lr": 1e-05 }