Upload tinyvla2/src/tinyvla/configuration_tinyvla.py with huggingface_hub

tinyvla2/src/tinyvla/configuration_tinyvla.py

@@ -26,9 +26,11 @@ class TinyVLAConfig(PreTrainedConfig):
     )
 
     # Cross-embodiment padding
-    max_state_dim: int = 16
-    max_action_dim: int = 8
-    num_embodiments: int = 16
+    # Sized for the widest embodiment in the pool, never truncate down to it:
+    # Unitree G1 Dex3 carries 28 joint channels, and nav sets add ids up to 19.
+    max_state_dim: int = 32
+    max_action_dim: int = 32
+    num_embodiments: int = 24
     max_cameras: int = 3
 
     # TinyVLA-2 A/B/C variant switch