| adapter_args: | |
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| adapter_type: LINEAR | |
| hidden_dim: output_dim | |
| input_norm: false | |
| norm_instance: | |
| norm_class: LN | |
| norm_eps: 1.0e-06 | |
| output_norm: false | |
| pooling_factor_per_dim: 1 | |
| pre_project_norm: false | |
| use_biases: true | |
| use_gating: false | |
| decoder_args: | |
| activation_class: GELU_TANH | |
| checkpoint: false | |
| dim: 2048 | |
| dropout: 0.0 | |
| head_dim: 256 | |
| hidden_dim: 16384 | |
| n_heads: 8 | |
| n_kv_heads: 1 | |
| n_layers: 18 | |
| norm_args: | |
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| ffn_norm: true | |
| norm_instance: | |
| norm_class: RMS | |
| norm_eps: 1.0e-06 | |
| post_attention_norm: false | |
| post_ffn_norm: false | |
| qk_norm: false | |
| pos_embed: ROPE_1D | |
| rope_freqs_split: null | |
| rope_theta: 10000.0 | |
| total_parameter_count: 1981882368 | |
| use_attn_wk_biases: false | |
| use_attn_wo_biases: false | |
| use_attn_wq_biases: false | |
| use_attn_wv_biases: false | |
| use_ffn_biases: false | |
| use_ffn_gating: true | |
| image_encoder_args: | |
| image_pooling_args: | |
| pooling_type: NONE | |
| max_image_size: 224 | |
| num_register_tokens: 0 | |
| output_norm: true | |
| patch_norm: false | |
| patch_size: 14 | |
| total_parameter_count: 412442352 | |
| transformer_args: | |
| activation_class: GELU_TANH | |
| checkpoint: false | |
| dim: 1152 | |
| dropout: 0.0 | |
| head_dim: 72 | |
| hidden_dim: 4304 | |
| n_heads: 16 | |
| n_kv_heads: 16 | |
| n_layers: 27 | |
| norm_args: | |
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| ffn_norm: true | |
| norm_instance: | |
| norm_class: LN | |
| norm_eps: 1.0e-06 | |
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| pos_embed: LEARNED | |
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| rope_theta: null | |
| total_parameter_count: 411466608 | |
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| use_attn_wv_biases: true | |
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| use_cls_token: false | |
| use_patch_conv_biases: true | |
| image_token_id: 257152 | |
| img_encoding_tokens: | |
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| model_parallel: 1 | |
| model_type: vla_autoregressive | |
| processor_args: | |
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| max_action: 2.0 | |
| min_action: -2.0 | |
| n_bins: null | |
| tokenizer_type: FAST | |
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| FRANKA_LIBERO: | |
| action_space: | |
| format: default | |
| horizon: 10 | |
| names: null | |
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| type: gs_vla.third_party.libero.data.LiberoAction | |
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| std: | |
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| transform_type: normalize_observation | |
| observation_space: | |
| format: default | |
| images: | |
| observation.images.image: | |
| height: 256 | |
| n_channels: 3 | |
| video_info: | |
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| video.codec: h264 | |
| video.fps: 10.0 | |
| video.is_depth_map: false | |
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| width: 256 | |
| observation.images.wrist_image: | |
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| n_channels: 3 | |
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| video.fps: 10.0 | |
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| width: 256 | |
| names: null | |
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| output_action_transforms: | |
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| resize_mode: FIXED | |
| rgb_normalization: SIGLIP | |
| instruct_template_args: | |
| template_type: GENESIS | |
| processor_type: vlm | |
| tokenizer_args: | |
| tokenizer_type: PALIGEMMA | |
| total_parameter_count: 3450244848 | |
| use_output_biases: false | |
| vocab_size: 257216 | |