Upload config.json
Browse files- config.json +63 -0
config.json
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{
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "MIN_MAX",
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"ACTION": "MIN_MAX"
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},
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"input_features": {
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"observation.images.cam_high": {
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"type": "VISUAL",
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"shape": [
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3,
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240,
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320
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]
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},
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"observation.images.cam_left_wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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240,
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320
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]
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},
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"observation.images.cam_right_wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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240,
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320
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]
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},
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"observation.state": {
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"type": "STATE",
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"shape": [
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14
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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14
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]
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}
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},
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"device": "cuda",
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"backbone": "Qwen/Qwen3-VL-4B-Instruct",
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"chunk_size": 60,
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"n_action_steps": 60,
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"max_state_dim": 32,
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"max_action_dim": 32,
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"proj_width": 2560,
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"num_steps": 10,
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"attention_implementation": "eager",
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"dit_hidden_size": 1536,
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"dit_num_heads": 32,
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"dit_num_layers": 16,
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"dit_interleave_self_attention": true,
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"dit_cross_attention_dim": 2560,
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"num_noise_per_sample": 1,
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"type": "spirit_vla"
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}
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