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Modify unnorm_key in config.json, dataset_statistics.json
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{
"_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_spatial": {
"action": {
"mean": [
0.15312479436397552,
0.13707277178764343,
-0.15526802837848663,
-0.005176450591534376,
-0.01120874285697937,
-0.020194264128804207,
0.4578818082809448
],
"std": [
0.41272708773612976,
0.34724321961402893,
0.50869220495224,
0.037266165018081665,
0.07244449853897095,
0.05762382969260216,
0.49827873706817627
],
"max": [
0.9375,
0.9375,
0.9375,
0.1971428543329239,
0.33642858266830444,
0.375,
1.0
],
"min": [
-0.9375,
-0.9375,
-0.9375,
-0.1875,
-0.3675000071525574,
-0.36000001430511475,
0.0
],
"q01": [
-0.7454732114076613,
-0.6616071462631226,
-0.9375,
-0.1071428582072258,
-0.20678570866584778,
-0.1842857152223587,
0.0
],
"q99": [
0.9375,
0.8758928775787354,
0.9321428537368774,
0.1039285734295845,
0.17678570747375488,
0.14571428298950195,
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": 52970,
"num_trajectories": 432
}
},
"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"
}