| { |
| "model_type": "Gr00tN1d6", |
| "model_dtype": "bfloat16", |
| "model_name": "nvidia/Eagle-Block2A-2B-v2", |
| "backbone_model_type": "eagle", |
| "model_revision": null, |
| "tune_top_llm_layers": 4, |
| "backbone_embedding_dim": 2048, |
| "tune_llm": false, |
| "tune_visual": false, |
| "select_layer": 16, |
| "reproject_vision": false, |
| "use_flash_attention": true, |
| "load_bf16": true, |
| "collator_overwrite_image_inputs": false, |
| "eagle_collator": true, |
| "backbone_trainable_params_fp32": true, |
| "apply_sincos_state_encoding": true, |
| "use_relative_action": true, |
| "max_state_dim": 128, |
| "max_action_dim": 128, |
| "action_horizon": 50, |
| "hidden_size": 1024, |
| "input_embedding_dim": 1536, |
| "add_pos_embed": true, |
| "attn_dropout": 0.2, |
| "use_vlln": true, |
| "max_seq_len": 1024, |
| "use_alternate_vl_dit": true, |
| "attend_text_every_n_blocks": 2, |
| "diffusion_model_cfg": { |
| "attention_head_dim": 48, |
| "dropout": 0.2, |
| "final_dropout": true, |
| "interleave_self_attention": true, |
| "norm_type": "ada_norm", |
| "num_attention_heads": 32, |
| "num_layers": 32, |
| "output_dim": 1024, |
| "positional_embeddings": null |
| }, |
| "num_inference_timesteps": 4, |
| "noise_beta_alpha": 1.5, |
| "noise_beta_beta": 1.0, |
| "noise_s": 0.999, |
| "num_timestep_buckets": 1000, |
| "tune_projector": true, |
| "tune_diffusion_model": true, |
| "tune_vlln": true, |
| "state_dropout_prob": 0.0, |
| "state_additive_noise_scale": 0.0, |
| "max_num_embodiments": 32 |
| } |
