File size: 2,158 Bytes
41deca0 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 | {
"_gradient_checkpointing": false,
"action_condition_type": "no_action_condition",
"add_pos_embed": true,
"architectures": [
"WLA"
],
"auxiliary_drop_thresh": 0.0,
"chunk_size": 32,
"connector_num_hidden_layers": 1,
"diffusion_model_cfg": {
"attention_head_dim": 32,
"cross_attention_dim": 2048,
"dropout": 0.0,
"final_dropout": false,
"input_embedding_dim": 1024,
"interleave_self_attention": true,
"norm_type": "norm",
"num_attention_heads": 32,
"num_layers": 28,
"output_dim": 1024,
"positional_embeddings": null
},
"diffusion_model_id": "/inspire/qb-ilm/project/qproject-fundationmodel/public/zzt/models/Sana_600M",
"dtype": "bfloat16",
"history_obs_step": 8,
"in_channels": 64,
"input_size": 16,
"instruction_folder_path": "configs/robotwin_seen_instruction.json",
"max_action_dim": 16,
"max_input_text_tokens": 256,
"max_seq_len": 1024,
"max_state_dim": 16,
"mllm_id": "/inspire/qb-ilm/project/qproject-fundationmodel/public/zzt/models/RynnBrain-2B",
"model_type": "wla",
"modules_to_freeze": [
"vae"
],
"modules_to_unfreeze": [
"model.mllm_backbone.model.visual",
"model.mllm_backbone.model.language_model",
"model.mllm_backbone.model.language_model.embed_tokens",
"model.world_expert",
"model.connector",
"model.action_expert"
],
"noise_beta_alpha": 1.5,
"noise_beta_beta": 1.0,
"noise_s": 0.999,
"noise_scheduler_id": "/inspire/qb-ilm/project/qproject-fundationmodel/public/zzt/models/Sana_600M",
"num_inference_timesteps": 32,
"num_metaqueries": 64,
"num_target_vision_tokens": 0,
"num_timestep_buckets": 1000,
"primary_loss_mode": "action",
"repeated_diffusion_steps": 8,
"sample_num": 1,
"scheduler_id": "/inspire/qb-ilm/project/qproject-fundationmodel/public/zzt/models/Sana_600M",
"secondary_loss_mode": "image",
"system_prompt": "",
"training_mode": "image_action",
"transformers_version": "4.57.1",
"use_begin_frame_context": false,
"use_history_obs": false,
"vae_downsample_f": 32,
"vae_id": "/inspire/qb-ilm/project/qproject-fundationmodel/public/zzt/models/Sana_600M"
}
|