| { | |
| "type": "smolvla", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [6] | |
| }, | |
| "observation.images.camera1": { | |
| "type": "VISUAL", | |
| "shape": [3, 256] | |
| }, | |
| "observation.images.camera2": { | |
| "type": "VISUAL", | |
| "shape": [3, 256] | |
| }, | |
| "observation.images.camera3": { | |
| "type": "VISUAL", | |
| "shape": [3] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "push_to_hub": true, | |
| "repo_id": null, | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "chunk_size": 50, | |
| "n_action_steps": 50, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "max_state_dim": 32, | |
| "max_action_dim": 32, | |
| "resize_imgs_with_padding": [0, 0], | |
| "scheduler_decay_lr": 2.5e-06, | |
| "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct", | |
| "load_vlm_weights": true, | |
| "add_image_special_tokens": false, | |
| "attention_mode": "cross_attn", | |
| "prefix_length": 0, | |
| "pad_language_to": "max_length", | |
| "num_expert_layers": 0, | |
| "num_vlm_layers": 16, | |
| "self_attn_every_n_layers": 2, | |
| "expert_width_multiplier": 0.75, | |
| "min_period": 0.004, | |
| "max_period": 4.0 | |
| } | |