| { | |
| "model_type": "mobile_vla", | |
| "architecture": "kosmos2_mobile_vla", | |
| "backbone": "microsoft/kosmos-2-patch14-224", | |
| "hidden_size": 1536, | |
| "action_dim": 3, | |
| "window_size": 8, | |
| "chunk_size": 2, | |
| "learning_rate": 0.0001, | |
| "batch_size": 1, | |
| "num_epochs": 3, | |
| "loss_function": "huber_loss", | |
| "image_size": [ | |
| 224, | |
| 224 | |
| ], | |
| "normalize_actions": true, | |
| "scenarios": [ | |
| "1box_left_vertical", | |
| "1box_left_horizontal", | |
| "1box_right_vertical", | |
| "1box_right_horizontal", | |
| "2box_left_vertical", | |
| "2box_left_horizontal", | |
| "2box_right_vertical", | |
| "2box_right_horizontal" | |
| ], | |
| "performance": { | |
| "overall_mae": 0.285, | |
| "threshold_accuracy_0_1": 0.375, | |
| "per_action_mae": { | |
| "linear_x": 0.243, | |
| "linear_y": 0.55, | |
| "angular_z": 0.062 | |
| }, | |
| "per_action_r2": { | |
| "linear_x": 0.354, | |
| "linear_y": 0.293, | |
| "angular_z": 0.0 | |
| } | |
| }, | |
| "dataset_size": 72, | |
| "training_episodes": 52, | |
| "validation_episodes": 20, | |
| "model_parameters": 1665537542, | |
| "created_date": "2025-08-21T03:12:43.124671", | |
| "framework": "pytorch", | |
| "transformers_version": "4.41.2" | |
| } |