{
  "model_id": "openvla-micro",
  "description": "Small-vision VLA trained on LIBERO-90 for CPU robot deployment",
  "vision": {
    "backbone": "dinosiglip-vit-s-b-224px",
    "dino_model": "vit_small_patch14_reg4_dinov2.lvd142m",
    "dino_dim": 384,
    "dino_patches": 256,
    "siglip_model": "vit_base_patch16_siglip_224",
    "siglip_dim": 768,
    "siglip_patches": 196,
    "total_patches": 452,
    "total_embed_dim": 1152,
    "image_size": 224
  },
  "projector": {
    "shim_hidden": 2048,
    "shim_out_dim": 8704,
    "proj2_in": 8704,
    "proj2_out": 896,
    "proj4_in": 896,
    "proj4_out": 896,
    "trainable_params": 38107938
  },
  "llm": {
    "model_id": "qwen25-0_5b-extra",
    "hf_id": "Qwen/Qwen2.5-0.5B",
    "vocab_size": 151936,
    "hidden_dim": 896,
    "extra_tokens": 256
  },
  "action": {
    "dof": 7,
    "normalization": "minmax_q99",
    "tokenizer_bins": 256,
    "dataset": "libero_90"
  },
  "training": {
    "optimizer_steps": 5000,
    "effective_batch_size": 64,
    "micro_batch": 8,
    "gradient_accumulation": 8,
    "learning_rate": 0.0002,
    "lr_schedule": "200_warmup_cosine_to_1e-5",
    "lora_rank": 8,
    "checkpoint_source": "MiniVLA"
  }
}