| { | |
| "vision_backbone": "repvit", | |
| "language_backbone": "tinyllm", | |
| "vision_model": "repvit_m0_9", | |
| "vision_pretrained": true, | |
| "freeze_vision": true, | |
| "num_visual_tokens": 8, | |
| "vision_output_dim": 384, | |
| "image_size": 224, | |
| "language_hidden_size": 384, | |
| "language_num_layers": 6, | |
| "language_num_heads": 6, | |
| "language_vocab_size": 50262, | |
| "language_max_length": 1024, | |
| "freeze_language_base": true, | |
| "unfreeze_last_layer": true, | |
| "use_pretrained_language": true, | |
| "pretrained_language_model": "tinyllm/30M-0.4", | |
| "fusion_bottleneck_dim": 48, | |
| "fusion_dropout": 0.1, | |
| "use_qk_norm": true, | |
| "reasoning_enabled": true, | |
| "reasoning_hidden_dim": 192, | |
| "reasoning_num_layers": 2, | |
| "reasoning_num_heads": 4, | |
| "num_reasoning_steps": 4, | |
| "max_plan_steps": 5, | |
| "num_robots": 5, | |
| "robot_names": [ | |
| "Drone", | |
| "Humanoid", | |
| "Wheeled", | |
| "Legged", | |
| "Underwater" | |
| ], | |
| "special_tokens": { | |
| "reasoning_start": "<|reasoning_start|>", | |
| "reasoning_end": "<|reasoning_end|>", | |
| "robot_selection": "<|robot_selection|>", | |
| "action_plan": "<|action_plan|>", | |
| "image_token": "<|image|>" | |
| }, | |
| "dropout": 0.1, | |
| "initializer_range": 0.02, | |
| "vocab_size": 50262 | |
| } |