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support vla_jepa

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ginwind
2026-05-01 11:39:06 +00:00
committed by Maximellerbach
parent 64c726ac2b
commit 8543ed756d
4 changed files with 423 additions and 120 deletions
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src/lerobot/policies/vla_jepa/configuration_vla_jepa.py
+5 -3
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@@ -27,12 +27,14 @@ class VLAJEPAConfig(PreTrainedConfig):
jepa_encoder_name: str = "facebook/vjepa2-vitl-fpc64-256"
tokenizer_padding_side: str = "left"
prompt_template: str = "{instruction}\n\nPredict {actions} and condition future prediction with {e_actions}."
prompt_template: str = (
"{instruction}\n\nPredict {actions} and condition future prediction with {e_actions}."
)
special_action_token: str = "<|action_{}|>"
embodied_action_token: str = "<|embodied_action|>"
action_dim: int = 7
state_dim: int = 7
state_dim: int = 8
future_action_window_size: int = 15
past_action_window_size: int = 0
num_action_tokens_per_timestep: int = 4
@@ -42,7 +44,7 @@ class VLAJEPAConfig(PreTrainedConfig):
action_hidden_size: int = 1024
action_model_type: str = "DiT-B"
action_num_layers: int = 12
action_num_heads: int = 12
action_num_heads: int = 16
action_attention_head_dim: int = 64
action_dropout: float = 0.1
action_num_timestep_buckets: int = 1000