1229: upload g0plus_3b_base v1.0, will update soon

G0Plus_3B_base/.hydra/config.yaml

@@ -0,0 +1,358 @@
+seed: 7
+resume_ckpt: null
+output_dir: ${hydra:runtime.output_dir}
+checkpointing_steps: 22292
+logger:
+  type: wandb
+  log_steps: 10
+  task: ${hydra:runtime.choices.task}
+  project: ${split:${logger.task},0}
+  experiment_name: ${split:${logger.task},-1}
+  mode: online
+  workspace: cuijianning1996-galaxea-ai
+  dir: ${output_dir}/wandb
+batch_size_val: 16
+eval_episodes_num: 1
+ckpt_path: null
+env: R1ProBlocksStackEasy
+target_controller_type: bimanual_relaxed_ik
+tags: null
+edp:
+  card: null
+  training_time: ${now:%Y-%m-%d}_${now:%H-%M-%S}
+  git_branch: null
+  git_commit: null
+  root: null
+  repo_ids: null
+  save_dir: ${output_dir}
+  tags: ${tags}
+  max_steps: ${model.max_steps}
+  batch_size: ${model.batch_size}
+data:
+  _target_: galaxea_fm.data.galaxea_lerobot_dataset.GalaxeaLerobotDataset
+  dataset_dirs: null
+  shape_meta:
+    action:
+    - key: left_arm
+      raw_shape: 6
+      shape: 6
+    - key: left_gripper
+      raw_shape: 1
+      shape: 1
+    - key: right_arm
+      raw_shape: 6
+      shape: 6
+    - key: right_gripper
+      raw_shape: 1
+      shape: 1
+    state:
+    - key: left_arm
+      raw_shape: 6
+      shape: 6
+    - key: left_gripper
+      raw_shape: 1
+      shape: 1
+    - key: right_arm
+      raw_shape: 6
+      shape: 6
+    - key: right_gripper
+      raw_shape: 1
+      shape: 1
+    images:
+    - key: head_condition
+      raw_shape:
+      - 3
+      - 224
+      - 224
+      shape:
+      - 3
+      - 224
+      - 224
+    - key: head_rgb
+      raw_shape:
+      - 3
+      - 720
+      - 1280
+      shape:
+      - 3
+      - 224
+      - 224
+    - key: left_wrist_rgb
+      raw_shape:
+      - 3
+      - 720
+      - 1280
+      shape:
+      - 3
+      - 224
+      - 224
+    - key: right_wrist_rgb
+      raw_shape:
+      - 3
+      - 720
+      - 1280
+      shape:
+      - 3
+      - 224
+      - 224
+  action_size: 32
+  past_action_size: 0
+  obs_size: 1
+  ee_start_moving_thresh: 0.0
+  val_set_proportion: 0.05
+  use_bbox_condition: true
+  dataset_root: /galaxea_dataset/galaxea/pp_project/lerobot_with_bbox
+  dataset_prefixes:
+  - BENCH
+  - Bench
+model:
+  pretrained_ckpt: /galaxea_dataset/mnt/tmp/pp_wt_img_cond/checkpoints/org2fm_v2.pt
+  use_pretrained_norm_stats: true
+  model_weights_to_bf16: false
+  enable_bf16_training: true
+  use_torch_compile: false
+  find_unused_parameters: false
+  batch_size: 4
+  num_workers: 4
+  pin_memory: true
+  persistent_workers: true
+  max_epochs: 4
+  max_steps: null
+  grad_accumulation_steps: 1
+  use_8bit_optimizer: false
+  learning_rate: 0
+  weight_decay: 1.0e-06
+  betas:
+  - 0.9
+  - 0.999
+  lr_scheduler_type: cosine
+  warmup_steps: 500
+  max_grad_norm: 1.0
+  use_ema: false
+  ema:
+    update_after_step: 0
+    power: 0.67
+  use_sync_bn: false
+  processor:
+    _target_: galaxea_fm.processors.galaxea_zero_processor.GalaxeaZeroProcessor
+    shape_meta: ${data.shape_meta}
+    num_obs_steps: ${data.obs_size}
+    action_state_transforms:
+    - _target_: galaxea_fm.transforms.relative_action.RelativeJointTransform
+      keys:
+      - left_arm
+      - right_arm
+    use_stepwise_action_norm: true
+    norm_default_mode: z-score
+    norm_exception_mode:
+      action:
+        left_gripper: 0/100
+        right_gripper: 0/100
+    action_state_merger:
+      _target_: galaxea_fm.transforms.action_state_merger.ConcatLeftAlign
+    train_transforms:
+      head_condition:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      head_rgb:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      left_wrist_rgb:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      right_wrist_rgb:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+    val_transforms:
+      head_condition:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      head_rgb:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      left_wrist_rgb:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      right_wrist_rgb:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+    num_output_cameras: 4
+    use_zh_instruction: false
+    drop_high_level_prob: 1.0
+    pad_token_id: ${model.model_arch.pad_token_id}
+    image_token_index: ${model.model_arch.image_token_index}
+    tokenizer_params:
+      pretrained_model_name_or_path: google/paligemma-3b-pt-224
+      local_files_only: false
+      token: null
+    max_text_tokens: ${model.model_arch.max_text_tokens}
+    max_image_text_tokens: ${model.model_arch.max_image_text_tokens}
+    num_input_cameras: ${model.model_arch.num_input_images}
+    num_image_tokens_per_camera: ${model.model_arch.vision.num_image_tokens}
+  model_arch:
+    _target_: galaxea_fm.models.galaxea_zero.galaxea_zero_policy.GalaxeaZeroPolicy
+    model_name: galaxea_fm.models.galaxea_zero.galaxea_zero_policy.GalaxeaZero
+    pretrained_model_path: /vla_fulltime/jianning.cui/code/GalaxeaFM/google/paligemma-3b-pt-224
+    vla_training_strategy: vla-full-train
+    backbone_lr_multiplier: 1.0
+    image_token_index: 257152
+    pad_token_id: 0
+    vocab_size: 257216
+    cond_steps: ${data.obs_size}
+    horizon_steps: ${data.action_size}
+    max_text_tokens: 55
+    max_image_text_tokens: ${eval:'${model.model_arch.num_input_images} * ${model.model_arch.vision.num_image_tokens}
+      + ${model.model_arch.max_text_tokens}'}
+    num_input_images: ${eval:'${model.model_arch.cond_steps} * ${model.model_arch.vision.num_channels}'}
+    num_extra_image_tokens_per_camera: 0
+    final_action_clip_value: null
+    action_dim: 14
+    proprio_dim: 14
+    action_decoder_layers: 2
+    action_expert_adaptive_mode: null
+    flow_sampling: beta
+    num_inference_steps: 10
+    vision:
+      name: galaxea_fm.models.galaxea_zero.paligemma.siglip.SiglipVisionModel
+      hidden_size: 1152
+      intermediate_size: 4304
+      num_hidden_layers: 27
+      num_attention_heads: 16
+      num_channels: 3
+      image_size: 224
+      patch_size: 14
+      layer_norm_eps: 1.0e-06
+      attention_dropout: 0.0
+      num_image_tokens: 256
+    vision_projector:
+      name: galaxea_fm.models.galaxea_zero.paligemma.siglip.PaliGemmaMultiModalProjector
+      vision_config:
+        hidden_size: 1152
+        projection_dim: 2048
+    joint:
+      name: galaxea_fm.models.galaxea_zero.joint_model.JointModel
+      action_expert_adaptive_mode: null
+      mixture:
+        vlm:
+          hidden_size: 2048
+          intermediate_size: 16384
+          use_final_norm: false
+          cache: true
+        proprio:
+          hidden_size: 1024
+          intermediate_size: 4096
+          use_final_norm: true
+          cache: true
+          adaptive_mode: null
+        action:
+          hidden_size: 1024
+          intermediate_size: 4096
+          use_final_norm: true
+          cache: false
+          adaptive_mode: null
+      time_hidden_size: 256
+      num_hidden_layers: 18
+      num_attention_heads: 8
+      num_key_value_heads: 1
+      head_dim: 256
+      max_position_embeddings: 8192
+      rms_norm_eps: 1.0e-06
+      rope_theta: 10000.0
+      attention_bias: false
+      attention_dropout: 0.0

G0Plus_3B_base/.hydra/hydra.yaml

@@ -0,0 +1,161 @@
+hydra:
+  run:
+    dir: ${oc.env:GALAXEA_FM_OUTPUT_DIR}/${hydra:runtime.choices.task}/${now:%Y-%m-%d_%H-%M-%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/train.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - task=merge_pipeline/real/r1lite_g0_pp_bbox_400_tasks_wt
+  job:
+    name: finetune
+    chdir: null
+    override_dirname: task=merge_pipeline/real/r1lite_g0_pp_bbox_400_tasks_wt
+    id: ???
+    num: ???
+    config_name: train.yaml
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /vla_fulltime/jianning.cui/code/GalaxeaFM
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /vla_fulltime/jianning.cui/code/GalaxeaFM/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /vla_fulltime/jianning.cui/code/GalaxeaFM/runs/merge_pipeline/real/r1lite_g0_pp_bbox_400_tasks_wt/2025-12-19_13-44-40
+    choices:
+      task: merge_pipeline/real/r1lite_g0_pp_bbox_400_tasks_wt
+      model: vla/g0plus_bbox
+      data: r1lite/arm
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

G0Plus_3B_base/.hydra/overrides.yaml

@@ -0,0 +1 @@
+- task=merge_pipeline/real/r1lite_g0_pp_bbox_400_tasks_wt

G0Plus_3B_base/checkpoints/config.yaml

@@ -0,0 +1,358 @@
+seed: 7
+resume_ckpt: null
+output_dir: ${hydra:runtime.output_dir}
+checkpointing_steps: 22292
+logger:
+  type: wandb
+  log_steps: 10
+  task: ${hydra:runtime.choices.task}
+  project: ${split:${logger.task},0}
+  experiment_name: ${split:${logger.task},-1}
+  mode: online
+  workspace: cuijianning1996-galaxea-ai
+  dir: ${output_dir}/wandb
+batch_size_val: 16
+eval_episodes_num: 1
+ckpt_path: null
+env: R1ProBlocksStackEasy
+target_controller_type: bimanual_relaxed_ik
+tags: null
+edp:
+  card: null
+  training_time: ${now:%Y-%m-%d}_${now:%H-%M-%S}
+  git_branch: null
+  git_commit: null
+  root: null
+  repo_ids: null
+  save_dir: ${output_dir}
+  tags: ${tags}
+  max_steps: ${model.max_steps}
+  batch_size: ${model.batch_size}
+data:
+  _target_: galaxea_fm.data.galaxea_lerobot_dataset.GalaxeaLerobotDataset
+  dataset_dirs: null
+  shape_meta:
+    action:
+    - key: left_arm
+      raw_shape: 6
+      shape: 6
+    - key: left_gripper
+      raw_shape: 1
+      shape: 1
+    - key: right_arm
+      raw_shape: 6
+      shape: 6
+    - key: right_gripper
+      raw_shape: 1
+      shape: 1
+    state:
+    - key: left_arm
+      raw_shape: 6
+      shape: 6
+    - key: left_gripper
+      raw_shape: 1
+      shape: 1
+    - key: right_arm
+      raw_shape: 6
+      shape: 6
+    - key: right_gripper
+      raw_shape: 1
+      shape: 1
+    images:
+    - key: head_condition
+      raw_shape:
+      - 3
+      - 224
+      - 224
+      shape:
+      - 3
+      - 224
+      - 224
+    - key: head_rgb
+      raw_shape:
+      - 3
+      - 720
+      - 1280
+      shape:
+      - 3
+      - 224
+      - 224
+    - key: left_wrist_rgb
+      raw_shape:
+      - 3
+      - 720
+      - 1280
+      shape:
+      - 3
+      - 224
+      - 224
+    - key: right_wrist_rgb
+      raw_shape:
+      - 3
+      - 720
+      - 1280
+      shape:
+      - 3
+      - 224
+      - 224
+  action_size: 32
+  past_action_size: 0
+  obs_size: 1
+  ee_start_moving_thresh: 0.0
+  val_set_proportion: 0.05
+  use_bbox_condition: true
+  dataset_root: /galaxea_dataset/galaxea/pp_project/lerobot_with_bbox
+  dataset_prefixes:
+  - BENCH
+  - Bench
+model:
+  pretrained_ckpt: /galaxea_dataset/mnt/tmp/pp_wt_img_cond/checkpoints/org2fm_v2.pt
+  use_pretrained_norm_stats: true
+  model_weights_to_bf16: false
+  enable_bf16_training: true
+  use_torch_compile: false
+  find_unused_parameters: false
+  batch_size: 4
+  num_workers: 4
+  pin_memory: true
+  persistent_workers: true
+  max_epochs: 4
+  max_steps: null
+  grad_accumulation_steps: 1
+  use_8bit_optimizer: false
+  learning_rate: 0
+  weight_decay: 1.0e-06
+  betas:
+  - 0.9
+  - 0.999
+  lr_scheduler_type: cosine
+  warmup_steps: 500
+  max_grad_norm: 1.0
+  use_ema: false
+  ema:
+    update_after_step: 0
+    power: 0.67
+  use_sync_bn: false
+  processor:
+    _target_: galaxea_fm.processors.galaxea_zero_processor.GalaxeaZeroProcessor
+    shape_meta: ${data.shape_meta}
+    num_obs_steps: ${data.obs_size}
+    action_state_transforms:
+    - _target_: galaxea_fm.transforms.relative_action.RelativeJointTransform
+      keys:
+      - left_arm
+      - right_arm
+    use_stepwise_action_norm: true
+    norm_default_mode: z-score
+    norm_exception_mode:
+      action:
+        left_gripper: 0/100
+        right_gripper: 0/100
+    action_state_merger:
+      _target_: galaxea_fm.transforms.action_state_merger.ConcatLeftAlign
+    train_transforms:
+      head_condition:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      head_rgb:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      left_wrist_rgb:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      right_wrist_rgb:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+    val_transforms:
+      head_condition:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      head_rgb:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      left_wrist_rgb:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      right_wrist_rgb:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+    num_output_cameras: 4
+    use_zh_instruction: false
+    drop_high_level_prob: 1.0
+    pad_token_id: ${model.model_arch.pad_token_id}
+    image_token_index: ${model.model_arch.image_token_index}
+    tokenizer_params:
+      pretrained_model_name_or_path: /data/google/paligemma-3b-pt-224
+      local_files_only: false
+      token: null
+    max_text_tokens: ${model.model_arch.max_text_tokens}
+    max_image_text_tokens: ${model.model_arch.max_image_text_tokens}
+    num_input_cameras: ${model.model_arch.num_input_images}
+    num_image_tokens_per_camera: ${model.model_arch.vision.num_image_tokens}
+  model_arch:
+    _target_: galaxea_fm.models.galaxea_zero.galaxea_zero_policy.GalaxeaZeroPolicy
+    model_name: galaxea_fm.models.galaxea_zero.galaxea_zero_policy.GalaxeaZero
+    pretrained_model_path: /data/google/paligemma-3b-pt-224
+    vla_training_strategy: vla-full-train
+    backbone_lr_multiplier: 1.0
+    image_token_index: 257152
+    pad_token_id: 0
+    vocab_size: 257216
+    cond_steps: ${data.obs_size}
+    horizon_steps: ${data.action_size}
+    max_text_tokens: 55
+    max_image_text_tokens: ${eval:'${model.model_arch.num_input_images} * ${model.model_arch.vision.num_image_tokens}
+      + ${model.model_arch.max_text_tokens}'}
+    num_input_images: ${eval:'${model.model_arch.cond_steps} * ${model.model_arch.vision.num_channels}'}
+    num_extra_image_tokens_per_camera: 0
+    final_action_clip_value: null
+    action_dim: 14
+    proprio_dim: 14
+    action_decoder_layers: 2
+    action_expert_adaptive_mode: null
+    flow_sampling: beta
+    num_inference_steps: 10
+    vision:
+      name: galaxea_fm.models.galaxea_zero.paligemma.siglip.SiglipVisionModel
+      hidden_size: 1152
+      intermediate_size: 4304
+      num_hidden_layers: 27
+      num_attention_heads: 16
+      num_channels: 3
+      image_size: 224
+      patch_size: 14
+      layer_norm_eps: 1.0e-06
+      attention_dropout: 0.0
+      num_image_tokens: 256
+    vision_projector:
+      name: galaxea_fm.models.galaxea_zero.paligemma.siglip.PaliGemmaMultiModalProjector
+      vision_config:
+        hidden_size: 1152
+        projection_dim: 2048
+    joint:
+      name: galaxea_fm.models.galaxea_zero.joint_model.JointModel
+      action_expert_adaptive_mode: null
+      mixture:
+        vlm:
+          hidden_size: 2048
+          intermediate_size: 16384
+          use_final_norm: false
+          cache: true
+        proprio:
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+          intermediate_size: 4096
+          use_final_norm: true
+          cache: true
+          adaptive_mode: null
+        action:
+          hidden_size: 1024
+          intermediate_size: 4096
+          use_final_norm: true
+          cache: false
+          adaptive_mode: null
+      time_hidden_size: 256
+      num_hidden_layers: 18
+      num_attention_heads: 8
+      num_key_value_heads: 1
+      head_dim: 256
+      max_position_embeddings: 8192
+      rms_norm_eps: 1.0e-06
+      rope_theta: 10000.0
+      attention_bias: false
+      attention_dropout: 0.0

G0Plus_3B_base/checkpoints/dataset_stats.json

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G0Plus_3B_base/checkpoints/model_state_dict.pt

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