{ "type": "internvla_a1_5", "n_obs_steps": 1, "input_features": { "observation.state": { "type": "STATE", "shape": [ 32 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 32 ] } }, "device": "cuda:0", "use_amp": false, "push_to_hub": false, "repo_id": null, "private": null, "tags": null, "license": null, "pretrained_path": null, "vlm_model_name_or_path": "Qwen/Qwen3.5-2B", "action_expert_hidden_size": 1024, "action_expert_intermediate_size": 3072, "dtype": "bfloat16", "chunk_size": 50, "n_action_steps": 50, "max_state_dim": 32, "max_action_dim": 32, "num_inference_steps": 10, "time_sampling_beta_alpha": 1.5, "time_sampling_beta_beta": 1.0, "time_sampling_scale": 0.999, "time_sampling_offset": 0.001, "min_period": 0.004, "max_period": 4.0, "image_resolution": [ 224, 224 ], "empty_cameras": 0, "normalization_mapping": { "VISUAL": "IDENTITY", "STATE": "IDENTITY", "ACTION": "IDENTITY" }, "gradient_checkpointing": false, "compile_model": false, "compile_mode": "max-autotune", "optimizer_lr": 5e-05, "optimizer_betas": [ 0.9, 0.95 ], "optimizer_eps": 1e-08, "optimizer_weight_decay": 0.01, "optimizer_grad_clip_norm": 1.0, "scheduler_warmup_steps": 2000, "scheduler_decay_steps": 100000, "scheduler_decay_lr": 5e-06, "tokenizer_max_length": 48, "freeze_vision_encoder": false, "train_expert_only": false, "enable_vqa_loss": true, "lambda_vqa": 1.0, "tokenize_state": true, "action_token_min": 248077, "action_token_max": 250124, "knowledge_insulation": false, "block_action_attend_fast_tokens": true, "inference_action_type": "fm", "use_sdpa": false, "num_learnable_tokens": 50, "wan_checkpoint_path": "Wan-AI/Wan2.2-TI2V-5B", "wan_config_path": "Wan-AI/Wan2.2-TI2V-5B", "vae_path": "Wan-AI/Wan2.2-TI2V-5B/Wan2.2_VAE.pth", "video_precision": "bfloat16", "freeze_wan_dit": true, "num_video_frames": 4, "video_height": 224, "video_width": 224, "video_loss_weight": 1.0, "video_loss_only": false, "action_loss_only": true, "freeze_learnable_tokens": true, "inference_backend": "standard" }