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config.json

@@ -1,11 +1,6 @@
 {
     "type": "smolvla",
     "n_obs_steps": 1,
-    "normalization_mapping": {
-        "VISUAL": "IDENTITY",
-        "STATE": "MEAN_STD",
-        "ACTION": "MEAN_STD"
-    },
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -13,7 +8,7 @@
                 6
             ]
         },
-        "observation.images.front": {
+        "observation.images.camera0": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -21,7 +16,7 @@
                 640
             ]
         },
-        "observation.images.eagle": {
+        "observation.images.camera1": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -29,7 +24,7 @@
                 640
             ]
         },
-        "observation.images.glove": {
+        "observation.images.camera2": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -46,10 +41,20 @@
             ]
         }
     },
-    "device": "cuda",
+    "device": "mps",
     "use_amp": false,
+    "push_to_hub": true,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
     "chunk_size": 50,
     "n_action_steps": 50,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
     "max_state_dim": 32,
     "max_action_dim": 32,
     "resize_imgs_with_padding": [
@@ -72,7 +77,7 @@
     ],
     "optimizer_eps": 1e-08,
     "optimizer_weight_decay": 1e-10,
-    "optimizer_grad_clip_norm": 10.0,
+    "optimizer_grad_clip_norm": 10,
     "scheduler_warmup_steps": 1000,
     "scheduler_decay_steps": 30000,
     "scheduler_decay_lr": 2.5e-06,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b98be043a6da98195df80bde7d4a9952edb75f0f807f2623b2746e08529e5ccd
-size 906713296
+oid sha256:414df7fb6cf6f8114b215e9dca366d5d04ee5488f1611e3bc5677b1a6f141f99
+size 1800257992