| { |
| "action_horizon": 40, |
| "architectures": [ |
| "AlinVLAv0Memory" |
| ], |
| "backbone_model_type": "contextvla_qwen3_vl_legacy", |
| "backbone_trainable_params_fp32": true, |
| "color_jitter_params": { |
| "brightness": 0.3, |
| "contrast": 0.25, |
| "hue": 0.0, |
| "saturation": 0.05 |
| }, |
| "conversation_image_first": false, |
| "diffusion_model_cfg": { |
| "action_head_max_seq_len": 512, |
| "attention_head_dim": 64, |
| "depth_multi_stream": 4, |
| "depth_single_stream": 8, |
| "dropout": 0.2, |
| "final_dropout": true, |
| "num_attention_heads": 24, |
| "output_dim": 1024, |
| "positional_embeddings": "rope_sa_only", |
| "pre_norm": "layer_norm", |
| "qk_norm": "rms_norm", |
| "rope_theta": 10000.0, |
| "sa_dim": 1536, |
| "set_triple_stream_for_mq": false, |
| "set_triple_stream_for_state": false, |
| "temb_type": "input_token", |
| "use_swiglu": true, |
| "vl_dim": 4096 |
| }, |
| "dtype": "bfloat16", |
| "load_bf16": true, |
| "memory_cfg": { |
| "hidden_size": 4096, |
| "intermediate_size": 16384, |
| "max_position_embeddings": 32, |
| "num_attention_heads": 16, |
| "num_hidden_layers": 2, |
| "num_key_value_heads": 16, |
| "rms_norm_eps": 1e-05, |
| "use_causal_attn": true, |
| "use_rope": true |
| }, |
| "memory_length": 4, |
| "memory_meta_queries_mode": "meta_only", |
| "memory_video_delta_indices": [ |
| -48, |
| -32, |
| -16, |
| 0 |
| ], |
| "model_name": "huiwon/alinvlm_v1_3", |
| "model_type": "AlinVLAv0", |
| "n_meta_queries": 64, |
| "new_embodiment_train_ratio": 0, |
| "qwen3_collator": true, |
| "random_rotation_angle": null, |
| "reproject_vision": false, |
| "state_dropout_prob": 0.3, |
| "training_rtc_max_overlap": 4, |
| "transformers_version": "4.57.0", |
| "tune_diffusion_model": true, |
| "tune_llm": false, |
| "tune_projector": true, |
| "tune_top_llm_layers": 4, |
| "tune_visual": false, |
| "use_memory": true, |
| "use_mmditv0": false, |
| "use_mmditv1": true, |
| "use_relative_action": true, |
| "use_video": true, |
| "video_length": 4 |
| } |
|
|
