{
  "vision_backbone": "repvit",
  "language_backbone": "tinyllm",
  "vision_model": "repvit_m0_9",
  "vision_pretrained": true,
  "freeze_vision": true,
  "num_visual_tokens": 8,
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  "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|>"
  },
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  "initializer_range": 0.02,
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}