Hugging Face's logo

OpenRAL
/
rskill-molmoact2-so101-nf4

Robotics
Transformers
Safetensors
molmoact2
image-text-to-text
so100
so101
custom_code
8-bit precision
Model card Files
xet
 Community
rskill-molmoact2-so101-nf4
File size: 4,271 Bytes
e01c114
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
{
  "action_end_token_id": 151933,
  "action_expert_config": {
    "attn_dropout": 0.0,
    "causal_attn": false,
    "context_layer_norm": true,
    "dropout": 0.0,
    "ffn_multiple_of": 256,
    "hidden_size": 768,
    "mlp_ratio": 4.0,
    "model_type": "molmoact2_action_expert",
    "num_heads": 8,
    "num_layers": 36,
    "qk_norm": true,
    "qk_norm_eps": 1e-06,
    "rope": true,
    "timestep_embed_dim": 256
  },
  "action_expert_depth_gate": false,
  "action_expert_depth_gate_init_bias": -4.0,
  "action_expert_depth_gate_per_layer": false,
  "action_mode": "both",
  "max_action_horizon": 30,
  "action_output_token_id": 151931,
  "action_start_token_id": 151932,
  "action_token_start_id": 151934,
  "adapter_config": {
    "attention_dropout": 0.0,
    "attn_implementation": "sdpa",
    "float32_attention": true,
    "head_dim": 72,
    "hidden_act": "silu",
    "hidden_size": 1152,
    "image_feature_dropout": 0.0,
    "initializer_range": 0.02,
    "intermediate_size": 9728,
    "model_type": "molmoact2",
    "num_attention_heads": 16,
    "num_key_value_heads": 16,
    "pooling_attention_mask": true,
    "residual_dropout": 0.0,
    "text_hidden_size": 2560,
    "vit_layers": [
      -3,
      -9
    ]
  },
  "add_action_expert": true,
  "add_control_tokens": true,
  "add_setup_tokens": true,
  "architectures": [
    "MolmoAct2ForConditionalGeneration"
  ],
  "auto_map": {
    "AutoConfig": "configuration_molmoact2.MolmoAct2Config",
    "AutoModelForImageTextToText": "modeling_molmoact2.MolmoAct2ForConditionalGeneration"
  },
  "depth_end_token_id": null,
  "depth_mode": 2,
  "depth_output_token_id": null,
  "depth_start_token_id": null,
  "depth_token_start_id": null,
  "dtype": "float32",
  "enable_depth_reasoning": false,
  "flow_matching_beta_alpha": 1.0,
  "flow_matching_beta_beta": 1.5,
  "flow_matching_cutoff": 1.0,
  "flow_matching_num_steps": 10,
  "flow_matching_time_offset": 0.001,
  "flow_matching_time_scale": 0.999,
  "frame_end_token_id": 154632,
  "frame_start_token_id": 154631,
  "image_col_id": 154627,
  "image_end_token_id": 154625,
  "image_high_res_id": 154626,
  "image_low_res_id": 154630,
  "image_patch_id": 154626,
  "image_start_token_id": 154624,
  "initializer_range": 0.02,
  "low_res_image_start_token_id": 154628,
  "mask_action_dim_padding": true,
  "max_action_dim": 32,
  "model_type": "molmoact2",
  "n_obs_steps": 1,
  "norm_stats_filename": "norm_stats.json",
  "num_action_tokens": 2048,
  "num_depth_codes": 100,
  "num_depth_tokens": 0,
  "num_state_tokens": 256,
  "state_end_token_id": 151674,
  "state_format": "discrete",
  "state_start_token_id": 151673,
  "state_token_start_id": 151675,
  "text_config": {
    "additional_vocab_size": 128,
    "attention_dropout": 0.0,
    "attn_implementation": "sdpa",
    "embedding_dropout": 0.0,
    "head_dim": 128,
    "hidden_act": "silu",
    "hidden_size": 2560,
    "initializer_range": 0.02,
    "intermediate_size": 9728,
    "layer_norm_eps": 1e-06,
    "max_position_embeddings": 16384,
    "model_type": "molmoact2_text",
    "norm_after": false,
    "num_attention_heads": 32,
    "num_hidden_layers": 36,
    "num_key_value_heads": 8,
    "qk_norm_type": "qwen3",
    "qkv_bias": false,
    "residual_dropout": 0.0,
    "rope_parameters": {
      "rope_theta": 5000000.0,
      "rope_type": "default"
    },
    "rope_scaling_layers": null,
    "rope_theta": 5000000.0,
    "tie_word_embeddings": false,
    "use_cache": true,
    "use_qk_norm": true,
    "vocab_size": 154624
  },
  "tie_word_embeddings": false,
  "transformers_version": "5.3.0",
  "use_frame_special_tokens": true,
  "vit_config": {
    "attention_dropout": 0.0,
    "attn_implementation": "sdpa",
    "float32_attention": true,
    "head_dim": 72,
    "hidden_act": "gelu_pytorch_tanh",
    "hidden_size": 1152,
    "image_default_input_size": [
      378,
      378
    ],
    "image_num_pos": 729,
    "image_patch_size": 14,
    "initializer_range": 0.02,
    "intermediate_size": 4304,
    "layer_norm_eps": 1e-06,
    "model_type": "molmoact2",
    "num_attention_heads": 16,
    "num_hidden_layers": 27,
    "num_key_value_heads": 16,
    "residual_dropout": 0.0
  },
  "bos_token_id": 151645,
  "eos_token_id": 151645,
  "pad_token_id": 151643
}