config.json

{
  "action_in_proj_cfg": {
    "_target_": "alpamayo_r1.models.action_in_proj.PerWaypointActionInProjV2",
    "hidden_size": 512,
    "max_freq": 100.0,
    "num_enc_layers": 2,
    "num_fourier_feats": 20
  },
  "action_out_proj_cfg": {
    "_target_": "torch.nn.Linear"
  },
  "action_space_cfg": {
    "_target_": "alpamayo_r1.action_space.UnicycleAccelCurvatureActionSpace",
    "a_lambda": 0.0001,
    "a_ridge": 0.0001,
    "accel_bounds": [
      -9.8,
      9.8
    ],
    "accel_mean": 0.02902694707164455,
    "accel_std": 0.6810426736454882,
    "curvature_bounds": [
      -0.33,
      0.33
    ],
    "curvature_mean": 0.0002692167976330542,
    "curvature_std": 0.026148280660833106,
    "dt": 0.1,
    "kappa_lambda": 0.0001,
    "kappa_ridge": 0.0001,
    "n_waypoints": 64,
    "theta_lambda": 1e-06,
    "theta_ridge": 1e-08,
    "v_lambda": 1e-06,
    "v_ridge": 0.0001
  },
  "add_special_tokens": true,
  "architectures": [
    "AlpamayoR1"
  ],
  "attn_implementation": null,
  "diffusion_cfg": {
    "_target_": "alpamayo_r1.diffusion.flow_matching.FlowMatching",
    "int_method": "euler",
    "x_dims": "???"
  },
  "dtype": "bfloat16",
  "expert_cfg": {
    "dtype": "bfloat16",
    "head_dim": 128,
    "hidden_size": 2048,
    "intermediate_size": 8256,
    "num_attention_heads": 16
  },
  "expert_non_causal_attention": true,
  "hist_traj_tokenizer_cfg": {
    "_target_": "alpamayo_r1.models.delta_tokenizer.DeltaTrajectoryTokenizer"
  },
  "keep_same_dtype": true,
  "max_pixels": 196608,
  "min_pixels": 163840,
  "model_dtype": "bfloat16",
  "model_type": "alpamayo_r1",
  "tokens_per_future_traj": 128,
  "tokens_per_history_traj": 48,
  "traj_token_ids": {
    "future": 155685,
    "future_end": 155683,
    "future_start": 155681,
    "history": 155684,
    "history_end": 155676,
    "history_start": 155674
  },
  "traj_token_start_idx": 151669,
  "traj_tokenizer_cfg": {
    "_recursive_": false,
    "_target_": "alpamayo_r1.action_space.discrete_action_space.DiscreteTrajectoryTokenizer",
    "action_space_cfg": {
      "_target_": "alpamayo_r1.action_space.UnicycleAccelCurvatureActionSpace",
      "a_lambda": 0.0001,
      "a_ridge": 0.0001,
      "accel_bounds": [
        -9.8,
        9.8
      ],
      "accel_mean": 0.02902694707164455,
      "accel_std": 0.6810426736454882,
      "curvature_bounds": [
        -0.33,
        0.33
      ],
      "curvature_mean": 0.0002692167976330542,
      "curvature_std": 0.026148280660833106,
      "dt": 0.1,
      "kappa_lambda": 0.0001,
      "kappa_ridge": 0.0001,
      "n_waypoints": 64,
      "theta_lambda": 1e-06,
      "theta_ridge": 1e-08,
      "v_lambda": 1e-06,
      "v_ridge": 0.0001
    },
    "dims_max": [
      10,
      10
    ],
    "dims_min": [
      -10,
      -10
    ],
    "num_bins": 3000
  },
  "traj_vocab_size": 4000,
  "transformers_version": "4.57.1",
  "vlm_backend": "qwenvl3",
  "vlm_name_or_path": "Qwen/Qwen3-VL-8B-Instruct",
  "vocab_size": 155697
}