{ "type": "fineart_vla", "n_obs_steps": 1, "input_features": { "observation.state": { "type": "STATE", "shape": [ 14 ] }, "observation.images.cam_high": { "type": "VISUAL", "shape": [ 3, 360, 640 ] }, "observation.images.cam_left_wrist": { "type": "VISUAL", "shape": [ 3, 360, 640 ] }, "observation.images.cam_right_wrist": { "type": "VISUAL", "shape": [ 3, 360, 640 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 14 ] } }, "device": "cuda", "use_amp": false, "use_peft": false, "push_to_hub": false, "repo_id": null, "private": null, "tags": null, "license": null, "pretrained_path": "lerobot/FineART-VLA-subtask-midtrained", "pretrained_revision": null, "paligemma_variant": "gemma_2b", "action_expert_variant": "gemma_300m", "dtype": "bfloat16", "chunk_size": 50, "n_action_steps": 50, "max_state_dim": 32, "max_action_dim": 32, "num_inference_steps": 10, "time_sampling_beta_alpha": 1.5, "time_sampling_beta_beta": 1.0, "time_sampling_scale": 0.999, "time_sampling_offset": 0.001, "min_period": 0.004, "max_period": 4.0, "use_relative_actions": false, "relative_exclude_joints": [ "gripper" ], "action_feature_names": [ "left_shoulder_pan", "left_shoulder_lift", "left_elbow_flex", "left_wrist_angle", "left_wrist_rotate", "left_gripper", "left_gripper_finger", "right_shoulder_pan", "right_shoulder_lift", "right_elbow_flex", "right_wrist_angle", "right_wrist_rotate", "right_gripper", "right_gripper_finger" ], "rtc_config": null, "image_resolution": [ 224, 224 ], "empty_cameras": 0, "tokenizer_max_length": 128, "normalization_mapping": { "VISUAL": "IDENTITY", "STATE": "QUANTILES", "ACTION": "QUANTILES" }, "gradient_checkpointing": true, "compile_model": true, "compile_mode": "default", "freeze_vision_encoder": false, "train_expert_only": false, "optimizer_lr": 2.5e-05, "optimizer_betas": [ 0.9, 0.95 ], "optimizer_eps": 1e-08, "optimizer_weight_decay": 1e-10, "optimizer_grad_clip_norm": 1.0, "scheduler_warmup_steps": 2000, "scheduler_decay_steps": 300000, "scheduler_decay_lr": 5e-06, "recipe_path": "recipes/subtask.yaml", "text_loss_weight": 1.0, "flow_loss_weight": 10.0, "unfreeze_lm_head": true, "enable_fast_action_loss": true, "action_tokenizer_name": "lerobot/fast-action-tokenizer", "max_action_tokens": 384, "fast_skip_tokens": 128, "fast_action_loss_weight": 1.0, "auto_fit_fast_tokenizer": true, "fast_tokenizer_cache_dir": "~/.cache/lerobot/fast_tokenizers", "fast_tokenizer_fit_samples": 16384, "fast_tokenizer_validation_samples": 256, "fast_tokenizer_max_reconstruction_rmse": 0.1, "fast_tokenizer_max_dim_rmse": 0.2, "knowledge_insulation": true, "use_flashrt_adarms": false, "use_compiled_text_ce": true, "use_compiled_vision": false, "use_flex_attention": false, "use_manual_attention": false, "manual_attention_scope": "all", "lm_head_lr_scale": 1.0, "backbone_lr_scale": 1.0, "action_expert_lr_scale": 1.0, "flow_num_repeats": 1, "text_ce_z_loss_weight": 0.0001, "optimizer_foreach": false, "optimizer_fused": true }