Robotics
Safetensors
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  1. config.json +178 -0
  2. model.safetensors +3 -0
  3. train_config.json +112 -0
config.json ADDED
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+ {
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+ "ACTION": "MEAN_STD"
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+ },
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+ "input_features": {
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+ "type": "STATE",
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+ "shape": [
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+ "empty_cameras": 0,
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+ "adapt_to_pi_aloha": false,
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+ "use_delta_joint_actions_aloha": false,
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+ "tokenizer_max_length": 48,
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+ "num_steps": 10,
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+ "use_cache": true,
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+ "freeze_vision_encoder": true,
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+ "train_state_proj": true,
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+ "optimizer_betas": [
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+ "optimizer_weight_decay": 1e-10,
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+ "optimizer_grad_clip_norm": 10,
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+ "scheduler_warmup_steps": 1000,
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+ "scheduler_decay_lr": 2.5e-06,
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+ "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
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+ "load_vlm_weights": true,
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+ "shoulder_lift.pos",
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+ "wrist_flex.pos",
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+ "elbow_flex.pos",
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+ "wrist_flex.pos",
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+ "gripper.pos"
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model.safetensors ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:d9f15de7415427b7754ad0cc1336e57089a819af17c9755ee408e66f93628d4d
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+ size 906713296
train_config.json ADDED
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+ {"batch_size": 64,
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+ "image_transforms": {"enable": false,
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