Robotics
LeRobot
Safetensors
lawam
omx_multicubes_lawam / config.json
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{
"type": "lawam",
"n_obs_steps": 1,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
6
]
},
"observation.images.wrist": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
},
"observation.images.top": {
"type": "VISUAL",
"shape": [
3,
480,
640
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
6
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": "maximellerbach/omx_multicubes_lawam",
"private": null,
"tags": null,
"license": null,
"pretrained_path": null,
"pretrained_revision": null,
"chunk_size": 30,
"n_action_steps": 30,
"num_video_frames": 2,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "MIN_MAX",
"ACTION": "MIN_MAX"
},
"base_vlm": "Qwen/Qwen3-VL-2B-Instruct",
"base_vlm_path": null,
"lam_ckpt_path": null,
"hf_cache_dir": null,
"lam_dim": 1024,
"lam_num_heads": 16,
"lam_ffn_expansion_factor": 4,
"lam_enc_layers": 24,
"lam_codebook_size": 32,
"lam_code_dim": 32,
"lam_max_state_dim": 14,
"lam_num_queries": 1,
"lam_dec_layers": 12,
"lam_dropout": 0.0,
"lam_vq_type": "vae",
"lam_vq_layer_norm": true,
"lam_norm_latents": true,
"lam_norm_latents_type": "ln",
"lam_enc_add_state": false,
"lam_enc_modal_mask": true,
"lam_latent_layer_to_use": -2,
"lam_multi_input": false,
"lam_num_embodiments": 32,
"lam_image_hw": [
256,
256
],
"lam_patch_size": 16,
"lam_decoder_last_ln": true,
"dinov3_hidden_size": 768,
"dinov3_intermediate_size": 3072,
"dinov3_num_hidden_layers": 12,
"dinov3_num_attention_heads": 12,
"dinov3_num_register_tokens": 4,
"lawam_checkpoint_path": null,
"lawam_dataset_stats_path": null,
"lawam_unnorm_key": null,
"primary_image_features": [
"observation.images.top"
],
"wrist_image_features": [
"observation.images.wrist"
],
"default_task": "Execute the robot action.",
"action_hz": 30.0,
"embodiment_id": 25,
"enable_primary_video_aug": false,
"enable_primary_random_resized_crop": false,
"guidance_scale": null,
"num_inference_steps": null,
"latent_action_placeholder_token": "<ACT_PH>",
"num_action_queries": 8,
"flow_action_num_queries": 8,
"perceptual_weight": 0.1,
"lam_encoder_distill_weight": 0.1,
"enable_loss_distill": true,
"future_prediction": true,
"detach_future_feature": true,
"repeated_diffusion_steps": 2,
"flow_action_dim": 32,
"flow_state_dim": 32,
"flow_hidden_dim": 1024,
"flow_num_layers": 16,
"flow_attention_heads": 16,
"flow_vlm_dim": 2048,
"flow_vision_dim": 768,
"flow_num_vision_tokens": 256,
"flow_num_target_vision_tokens": -1,
"flow_use_state": false,
"flow_num_embodiments": 32,
"flow_horizon_sec": 1.0,
"flow_cfg_drop_prob": 0.0,
"flow_cfg_guidance_scale": 1.0,
"flow_num_inference_steps": 10,
"flow_num_timestep_buckets": 1000,
"flow_interleave_self_attention": true,
"flow_use_alternate_vldit": true,
"flow_attend_text_every_n_blocks": 2,
"flow_noise_beta_alpha": 1.5,
"flow_noise_beta_beta": 1.0,
"flow_noise_s": 0.999,
"flow_token_independent_noise": false,
"flow_use_action_positional_embeddings": true,
"clip_normalized_actions": false,
"pre_snap_gripper_action": false,
"binarize_gripper_action": false,
"gripper_dim": 6,
"gripper_threshold": 0.5,
"freeze_vision_backbone": false,
"freeze_llm_backbone": false,
"freeze_embedding": true,
"unfreeze_vision_merger": true,
"unfreeze_lam_decoder": true,
"keep_llm_first_n_layers": 16,
"unfreeze_llm_last_n_layers": -1,
"optimizer_lr": 0.0001,
"optimizer_betas": [
0.9,
0.95
],
"optimizer_eps": 1e-08,
"optimizer_weight_decay": 1e-08,
"optimizer_grad_clip_norm": 1.0,
"scheduler_warmup_steps": 1500,
"scheduler_decay_steps": 30000,
"scheduler_decay_lr": 5e-07
}