| { | |
| "model_config": { | |
| "vlm_path": "microsoft/Florence-2-large", | |
| "freeze_florence": false, | |
| "freeze_vision_tower": false, | |
| "vlm_prompt_style": "default", | |
| "token_dropout": 0.1, | |
| "multistep": 10, | |
| "num_sampling_steps": 4, | |
| "lowdim_obs_dim": 7, | |
| "action_dim": 7, | |
| "act_window_size": 10, | |
| "use_second_view": true, | |
| "second_view_key": "image_wrist", | |
| "action_type_adaln": true, | |
| "use_causal_attention": true, | |
| "use_cross_attn": true, | |
| "sampling_type": "uniform", | |
| "dit_dim": 1024, | |
| "n_heads": 16, | |
| "n_layers": 18, | |
| "use_rope": true, | |
| "query_seq_len": 100, | |
| "rope_theta": 32.0 | |
| } | |
| } |