---
license: mit
tags: [robotics, vla, so-101]
---

## Settings

```python
cfg.load_moe            = False
cfg.num_images_in_input = 2                # top, wrist
cfg.task_suite_name     = "pickcube_so101"
cfg.unnorm_key          = "pickcube_so101"
```

SO-101 robot constants (`prismatic/vla/constants.py`) must be
`ACTION_DIM=6, PROPRIO_DIM=6, NUM_ACTIONS_CHUNK=20`. The default LIBERO
profile (7/8/8) fails to load the proprio projector.

| | |
|---|---|
| action dim | 6 |
| proprio dim | 6 |
| action chunk | 20 |
| cameras | top, wrist (256x256) |