moojink's picture
Modify unnorm_key in config.json, dataset_statistics.json
c8d9634
{
"_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_10": {
"action": {
"mean": [
0.01820324920117855,
0.05858374014496803,
-0.05592384561896324,
0.004626928828656673,
0.00289608770981431,
-0.007673131301999092,
0.5457824468612671
],
"std": [
0.2825464606285095,
0.35904666781425476,
0.3673802614212036,
0.03770702704787254,
0.05429719388484955,
0.08725254982709885,
0.49815231561660767
],
"max": [
0.9375,
0.9375,
0.9375,
0.30000001192092896,
0.29357144236564636,
0.375,
1.0
],
"min": [
-0.9375,
-0.9375,
-0.9375,
-0.23642857372760773,
-0.3053571283817291,
-0.3675000071525574,
0.0
],
"q01": [
-0.6348214149475098,
-0.7741071581840515,
-0.7633928656578064,
-0.09749999642372131,
-0.14819999992847435,
-0.2742857038974762,
0.0
],
"q99": [
0.7714285850524902,
0.8464285731315613,
0.9375,
0.13928571343421936,
0.15964286029338837,
0.3246428668498993,
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": 101469,
"num_trajectories": 379
}
},
"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"
}