config.json

{
  "action_mode": "libero_joint",
  "alignment_action_token_layer": 3,
  "alignment_controllable_source": "action_tokens",
  "alignment_loss_weight": 1.0,
  "alignment_objective": "align",
  "alignment_pooling": "concat",
  "alignment_projector_dim": 768,
  "alignment_target_mode": "controllable",
  "architectures": [
    "SmolVLMVLA"
  ],
  "depth": 12,
  "dim_time": 32,
  "dtype": "float32",
  "hidden_size": 768,
  "image_size": 384,
  "lam_frame_interval": 5,
  "lam_latent_dim": 512,
  "max_len_seq": 512,
  "mlp_ratio": 4.0,
  "model_type": "smolvlm_vla",
  "num_actions": 50,
  "num_heads": 12,
  "num_views": 3,
  "precomputed_lam_controllable_key": "lam_latent_actions_controllable",
  "precomputed_lam_uncontrollable_key": "lam_latent_actions_uncontrollable",
  "smolvlm_model_path": "HuggingFaceTB/SmolVLM-500M-Instruct",
  "transformers_version": "5.2.0",
  "use_adaln": false,
  "use_jit_x_prediction_v_loss": false,
  "use_proprio": true
}