moojink's picture
Modify unnorm_key in config.json, dataset_statistics.json
7996d04
{
"_name_or_path": "openvla/openvla-7b",
"arch_specifier": "no-align+fused-gelu-mlp",
"architectures": [
"OpenVLAForActionPrediction"
],
"auto_map": {
"AutoConfig": "openvla/openvla-7b--configuration_prismatic.OpenVLAConfig",
"AutoModelForVision2Seq": "openvla/openvla-7b--modeling_prismatic.OpenVLAForActionPrediction"
},
"hf_llm_id": "meta-llama/Llama-2-7b-hf",
"image_resize_strategy": "resize-naive",
"image_sizes": [
224,
224
],
"llm_backbone_id": "llama2-7b-pure",
"llm_max_length": 2048,
"model_type": "openvla",
"n_action_bins": 256,
"norm_stats": {
"libero_goal": {
"action": {
"mean": [
0.04721052572131157,
0.028835246339440346,
-0.1485840231180191,
-0.0025010062381625175,
0.026408178731799126,
0.027379808947443962,
0.6299911737442017
],
"std": [
0.3968801498413086,
0.3473387360572815,
0.49239858984947205,
0.055331431329250336,
0.07844757288694382,
0.10008802264928818,
0.48270025849342346
],
"max": [
0.9375,
0.9375,
0.9375,
0.3557142913341522,
0.375,
0.375,
1.0
],
"min": [
-0.9375,
-0.9375,
-0.9375,
-0.2582142949104309,
-0.375,
-0.2871428430080414,
0.0
],
"q01": [
-0.8785714507102966,
-0.7553571462631226,
-0.9375,
-0.1510714292526245,
-0.1639285683631897,
-0.13777500048279764,
0.0
],
"q99": [
0.9375,
0.9107142686843872,
0.9375,
0.20357142388820648,
0.26357144117355347,
0.375,
1.0
],
"mask": [
true,
true,
true,
true,
true,
true,
false
]
},
"proprio": {
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_transitions": 52042,
"num_trajectories": 428
}
},
"output_projector_states": false,
"pad_to_multiple_of": 64,
"pad_token_id": 32000,
"text_config": {
"model_type": "llama",
"pad_token_id": 32000,
"torch_dtype": "bfloat16",
"vocab_size": 32064
},
"timm_model_ids": [
"vit_large_patch14_reg4_dinov2.lvd142m",
"vit_so400m_patch14_siglip_224"
],
"timm_override_act_layers": [
null,
null
],
"torch_dtype": "bfloat16",
"transformers_version": "4.40.1",
"use_fused_vision_backbone": true,
"vision_backbone_id": "dinosiglip-vit-so-224px"
}