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