{ "type": "smolvlafast", "n_obs_steps": 1, "input_features": { "observation.images.image": { "type": "VISUAL", "shape": [ 3, 256, 256 ] }, "observation.images.image2": { "type": "VISUAL", "shape": [ 3, 256, 256 ] }, "observation.state": { "type": "STATE", "shape": [ 8 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 7 ] } }, "device": "cuda", "use_amp": false, "use_peft": false, "push_to_hub": true, "repo_id": "smolvla_fast_lr_1e-4_chunk1_max_act_dim7", "private": null, "tags": null, "license": null, "pretrained_path": null, "use_proprio": true, "chunk_size": 1, "n_action_steps": 1, "normalization_mapping": { "VISUAL": "IDENTITY", "STATE": "MEAN_STD", "ACTION": "MEAN_STD" }, "max_state_dim": 32, "max_action_dim": 7, "resize_imgs_with_padding": [ 512, 512 ], "empty_cameras": 0, "adapt_to_pi_aloha": false, "use_delta_joint_actions_aloha": false, "tokenizer_max_length": 128, "num_steps": 10, "use_cache": true, "freeze_vision_encoder": true, "train_expert_only": true, "train_state_proj": true, "optimizer_lr": 0.0001, "optimizer_betas": [ 0.9, 0.95 ], "optimizer_eps": 1e-08, "optimizer_weight_decay": 1e-10, "optimizer_grad_clip_norm": 10, "scheduler_warmup_steps": 1000, "scheduler_decay_steps": 100000, "scheduler_decay_lr": 2.5e-06, "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct", "load_vlm_weights": true, "vlm_model_dtype": "bfloat16", "add_image_special_tokens": false, "attention_mode": "cross_attn", "prefix_length": -1, "pad_language_to": "longest", "num_vlm_layers": -1, "min_period": 0.004, "max_period": 4.0, "fast_skip_tokens": 128, "padding_side": "right", "max_input_seq_len": 512, "max_decoding_steps": 128, "relaxed_action_decoding": true }