| { |
| "adapter_config": { |
| "attention_dropout": 0.0, |
| "float32_attention": true, |
| "head_dim": 72, |
| "hidden_act": "silu", |
| "hidden_size": 1152, |
| "image_feature_dropout": 0.0, |
| "image_padding_embed": null, |
| "initializer_range": 0.02, |
| "intermediate_size": 18944, |
| "model_type": "", |
| "num_attention_heads": 16, |
| "num_key_value_heads": 16, |
| "residual_dropout": 0.0, |
| "text_hidden_size": 3584, |
| "vit_layers": [ |
| -3, |
| -9 |
| ] |
| }, |
| "architectures": [ |
| "SPRVLAForActionReasoning" |
| ], |
| "auto_map": { |
| "AutoConfig": "configuration_sprvla.SPRVLAConfig", |
| "AutoModelForImageTextToText": "modeling_sprvla.SPRVLAForActionReasoning" |
| }, |
| "image_patch_id": 152066, |
| "initializer_range": 0.02, |
| "llm_config": { |
| "additional_vocab_size": 128, |
| "attention_dropout": 0.0, |
| "embedding_dropout": 0.0, |
| "head_dim": 128, |
| "hidden_act": "silu", |
| "hidden_size": 3584, |
| "initializer_range": 0.02, |
| "intermediate_size": 18944, |
| "layer_norm_eps": 1e-06, |
| "max_position_embeddings": 4096, |
| "model_type": "sprvla_llm", |
| "norm_after": false, |
| "num_attention_heads": 28, |
| "num_hidden_layers": 28, |
| "num_key_value_heads": 4, |
| "qk_norm_type": "olmo", |
| "qkv_bias": true, |
| "residual_dropout": 0.0, |
| "rope_scaling": null, |
| "rope_theta": 1000000.0, |
| "use_cache": true, |
| "use_qk_norm": false, |
| "vocab_size": 152064 |
| }, |
| "model_type": "sprvla", |
| "n_action_bins": 256, |
| "norm_stats": { |
| "sprvla": { |
| "action": { |
| "max": [ |
| 0.06042003631591797, |
| 0.09417290985584259, |
| 0.07019275426864624, |
| 0.2616892158985138, |
| 0.11751057207584381, |
| 0.16968433558940887, |
| 1.0 |
| ], |
| "mean": [ |
| 0.0005706787342205644, |
| 0.0002448957529850304, |
| -3.5987635783385485e-05, |
| 0.00021597897284664214, |
| -0.0004896928439848125, |
| -0.000241481073317118, |
| 0.5570635199546814 |
| ], |
| "min": [ |
| -0.07434078305959702, |
| -0.07339745759963989, |
| -0.06539416313171387, |
| -0.1688285619020462, |
| -0.10289879888296127, |
| -0.2667275667190552, |
| 0.0 |
| ], |
| "q01": [ |
| -0.01538565568625927, |
| -0.021047022193670273, |
| -0.01688069850206375, |
| -0.044314172118902206, |
| -0.03890235349535942, |
| -0.04788423702120781, |
| 0.0 |
| ], |
| "q99": [ |
| 0.014661382883787155, |
| 0.026515591889619827, |
| 0.021398313343524933, |
| 0.04216696694493294, |
| 0.03401297703385353, |
| 0.04957397282123566, |
| 1.0 |
| ], |
| "std": [ |
| 0.005207270849496126, |
| 0.007506529800593853, |
| 0.006415561307221651, |
| 0.013248044066131115, |
| 0.010928540490567684, |
| 0.014873150736093521, |
| 0.49715080857276917 |
| ] |
| }, |
| "num_entries": 1560068 |
| }, |
| "libero_object_no_noops_modified": { |
| "action": { |
| "max": [ |
| 0.9375, |
| 0.8919642567634583, |
| 0.9375, |
| 0.17678570747375488, |
| 0.35035714507102966, |
| 0.1810714304447174, |
| 1.0 |
| ], |
| "mean": [ |
| 0.07096529006958008, |
| 0.13498851656913757, |
| -0.04601382836699486, |
| 0.00123520044144243, |
| 0.006998839322477579, |
| -0.015027612447738647, |
| 0.46428999304771423 |
| ], |
| "min": [ |
| -0.8839285969734192, |
| -0.9375, |
| -0.9375, |
| -0.15000000596046448, |
| -0.29035714268684387, |
| -0.32892856001853943, |
| 0.0 |
| ], |
| "q01": [ |
| -0.5383928418159485, |
| -0.8758928775787354, |
| -0.9375, |
| -0.06964285671710968, |
| -0.11678571254014969, |
| -0.15964286029338837, |
| 0.0 |
| ], |
| "q99": [ |
| 0.8464285731315613, |
| 0.84375, |
| 0.9375, |
| 0.08142857253551483, |
| 0.14892856776714325, |
| 0.0867857113480568, |
| 1.0 |
| ], |
| "std": [ |
| 0.2681235373020172, |
| 0.43846824765205383, |
| 0.4474974274635315, |
| 0.024446550756692886, |
| 0.049355510622262955, |
| 0.042107198387384415, |
| 0.49879148602485657 |
| ] |
| }, |
| "num_trajectories": 454, |
| "num_transitions": 66984, |
| "proprio": { |
| "max": [ |
| 0.14580604434013367, |
| 0.33216384053230286, |
| 0.3857804834842682, |
| 3.4003844261169434, |
| 0.7954911589622498, |
| 0.6642207503318787, |
| 0.0, |
| 0.04104341194033623, |
| -0.00018117300351150334 |
| ], |
| "mean": [ |
| -0.02999030612409115, |
| -0.007947085425257683, |
| 0.20293472707271576, |
| 3.1086409091949463, |
| -0.21404768526554108, |
| -0.11307074874639511, |
| 0.0, |
| 0.029380427673459053, |
| -0.030556727200746536 |
| ], |
| "min": [ |
| -0.1765444278717041, |
| -0.29457300901412964, |
| 0.008128180168569088, |
| 2.2890501022338867, |
| -1.883241891860962, |
| -1.0600427389144897, |
| 0.0, |
| 0.0006495157140307128, |
| -0.041782498359680176 |
| ], |
| "q01": [ |
| -0.14911890715360643, |
| -0.25978428691625594, |
| 0.009925739830359817, |
| 2.7545341420173646, |
| -1.3996034812927245, |
| -0.6867720144987106, |
| 0.0, |
| 0.008197814421728254, |
| -0.04015838988125324 |
| ], |
| "q99": [ |
| 0.09063626825809479, |
| 0.29066365867853167, |
| 0.3370887073874472, |
| 3.2611824750900267, |
| 0.32092821151018125, |
| 0.4037663781642913, |
| 0.0, |
| 0.039891827926039694, |
| -0.009106044843792932 |
| ], |
| "std": [ |
| 0.06694897264242172, |
| 0.17608462274074554, |
| 0.07807064801454544, |
| 0.0868484303355217, |
| 0.33540457487106323, |
| 0.20728276669979095, |
| 0.0, |
| 0.00956575945019722, |
| 0.009197483770549297 |
| ] |
| } |
| } |
| }, |
| "tie_word_embeddings": false, |
| "torch_dtype": "bfloat16", |
| "transformers_version": "4.52.1", |
| "use_cache": true, |
| "vit_config": { |
| "attention_dropout": 0.0, |
| "float32_attention": true, |
| "head_dim": 72, |
| "hidden_act": "gelu_pytorch_tanh", |
| "hidden_size": 1152, |
| "image_default_input_size": [ |
| 378, |
| 378 |
| ], |
| "image_num_pos": 729, |
| "image_patch_size": 14, |
| "initializer_range": 0.02, |
| "intermediate_size": 4304, |
| "layer_norm_eps": 1e-06, |
| "model_type": "sprvla_vit", |
| "num_attention_heads": 16, |
| "num_hidden_layers": 27, |
| "num_key_value_heads": 16, |
| "patch_bias": true, |
| "pre_layernorm": false, |
| "residual_dropout": 0.0, |
| "use_cls_token": false |
| } |
| } |
