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"_comment_action_decoder": "========== Action Decoder (ResNet-based Direct Reconstruction) ==========",
"_comment_action_encoder": "========== Action Encoder ==========",
"_comment_backbone": "========== Backbone Configuration (Vision Model Only) ==========",
"_comment_basic": "========== Basic Parameters ==========",
"_comment_debug": "========== Debug Configuration ==========",
"_comment_fusion": "========== Visual-Action Fusion ==========",
"_comment_lpips": "DINO mode: LPIPS disabled, using cosine similarity for vision reconstruction",
"_comment_modality": "========== Modality Presence Configuration ==========",
"_comment_trainable": "========== Default Trainable Flags ==========",
"_comment_training": "========== Training Configuration (DINO Mode) ==========",
"_comment_vision_branch": "========== Vision Branch Encoder ==========",
"_comment_vision_decoder": "========== Vision Decoder (DINO Hidden State Mode) ==========",
"_comment_visualization": "========== Visualization Configuration (Disabled for DINO) ==========",
"_comment_vq": "========== Vector Quantizer ==========",
"action_decoder_cfg": {
"_comment_decoder_type": "Decoder type: 'resnet' (direct reconstruction) or 'flow_matching' (diffusion)",
"_comment_embodiment": "Embodiment configuration",
"_comment_m_former": "M-Former configuration (symmetric to encoder)",
"_comment_resnet": "ResNet decoder configuration (symmetric to encoder)",
"action_dim": 16,
"action_horizon": 16,
"conv_kernel_size": 5,
"decoder_type": "resnet",
"dropout": 0.0,
"hidden_size": 1024,
"m_former_cfg": {
"attention_probs_dropout_prob": 0.0,
"hidden_dropout_prob": 0.0,
"hidden_size": 1024,
"input_hidden_size": 1024,
"intermediate_size": 3072,
"num_attention_heads": 16,
"num_hidden_layers": 8,
"query_num": 8
},
"max_num_embodiments": 30,
"num_conv_layers": 3,
"query_num": 8,
"upsample_stride": 2,
"use_dilation": false
},
"action_dim": 16,
"action_encoder_cfg": {
"action_dim": 16,
"action_horizon": 16,
"conv_encoder_type": "resnet",
"conv_kernel_size": 5,
"conv_stride": 2,
"downsample_target_len": null,
"dropout": 0.0,
"hidden_size": 1024,
"m_former_cfg": {
"attention_probs_dropout_prob": 0.0,
"hidden_dropout_prob": 0.0,
"hidden_size": 1024,
"input_hidden_size": 1024,
"intermediate_size": 3072,
"num_attention_heads": 16,
"num_hidden_layers": 4,
"query_num": 8
},
"max_num_embodiments": 30,
"num_conv_layers": 3,
"query_num": 8,
"state_dim": 16,
"use_dilation": true
},
"action_horizon": 16,
"architectures": [
"GR00T_Tokenizer"
],
"attn_implementation": null,
"backbone_cfg": {
"_comment_eagle_path": "HF hub id or local path for Qwen2.5-VL (passed to AutoModel/AutoProcessor).",
"_comment_layer_index": "Layer index: -1=last layer, -2=second-to-last, 0-N=specific layer",
"dinov2_layer_index": -2,
"dinov2_path": "/inspire/qb-ilm/project/qproject-fundationmodel/public/zzt/models/dinov2-large",
"eagle_path": "/inspire/qb-ilm/project/qproject-fundationmodel/public/zzt/models/Qwen/Qwen2.5-VL-3B-Instruct",
"load_bf16": false,
"project_to_dim": null,
"reproject_vision": false,
"select_layer": 12,
"tune_bridge_embedding": false,
"tune_llm": false,
"tune_visual": false,
"use_flash_attention": true,
"use_torch_compile": false,
"vision_model_type": "dinov2"
},
"bridge_projector_mid_dim": 1024,
"compute_dtype": "bfloat16",
"default_pa": 1,
"default_pv": 1,
"enable_action_visualization": false,
"enable_dimension_debug": false,
"enable_visualization": false,
"fusion_cfg": {
"dropout": 0.0,
"hidden_size": 1024,
"num_attention_heads": 16,
"num_layers": 4,
"query_num": 8
},
"hidden_size": 1024,
"ignore_lang_prefix": false,
"model_type": "gr00t_tokenizer",
"query_num": 8,
"reconstruction_loss_weights": {
"action": 1.0,
"lpips": 0.0,
"vision": 1.0,
"vq_commitment": 1.0
},
"state_dim": 16,
"torch_dtype": "float32",
"transformers_version": "4.52.0",
"tune_action_decoder_diffusion": true,
"tune_action_decoder_projector": true,
"tune_action_encoder": true,
"tune_bridge_projector": true,
"tune_fusion": true,
"tune_image_type_embedding": true,
"tune_vision_decoder": true,
"tune_vision_m_former": true,
"tune_vision_model": false,
"tune_vq": true,
"unified_embodiment_id": null,
"use_image_type_embedding": true,
"use_lpips_loss": false,
"use_multi_scenario_training": true,
"video_delta_indices": [
0
],
"vision_branch_cfg": {
"hidden_size": 1024,
"m_former_cfg": {
"attention_probs_dropout_prob": 0.0,
"hidden_dropout_prob": 0.0,
"hidden_size": 1024,
"input_hidden_size": 1024,
"intermediate_size": 3072,
"max_seq_len": 1024,
"num_attention_heads": 16,
"num_hidden_layers": 4,
"query_num": 8
},
"query_num": 8
},
"vision_decoder_cfg": {
"_comment_dino": "DINO mode: input/output are hidden states, not images",
"attention_probs_dropout_prob": 0.0,
"encoder_stride": 14,
"hidden_dropout_prob": 0.0,
"hidden_size": 1024,
"image_size": 224,
"input_hidden_size": 1024,
"intermediate_size": 3072,
"is_io_hidden_states": true,
"latent_motion_dim": 1024,
"num_attention_heads": 16,
"num_channels": 3,
"num_hidden_layers": 12,
"num_patches": 256,
"patch_size": 14,
"query_num": 8
},
"visualization_freq": 1000,
"visualization_num_samples": 4,
"visualization_save_dir": "visualizations",
"vq_cfg": {
"beta": 0.25,
"e_dim": 32,
"n_e": 128,
"num_stages": 2,
"sane_index_shape": false,
"stages": [
{
"beta": 0.5,
"e_dim": 32,
"n_e": 128
},
{
"beta": 0.1,
"e_dim": 32,
"n_e": 128
}
]
}
}
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