{ "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" }