config.json

{
  "base_model_id": "allenai/MolmoAct2-SO100_101",
  "norm_tag": "so100_so101_molmoact2",
  "state_dim": 6,
  "action_dim": 6,
  "action_horizon": 30,
  "state_history_len": 8,
  "action_history_len": 8,
  "s2_token_count": 16,
  "s2_input_width": 2560,
  "s2_width": 1024,
  "s1_width": 384,
  "s1_layers": 6,
  "s1_heads": 8,
  "s1_dropout": 0.05,
  "flow_inference_steps": 4,
  "temporal_ensemble_enabled": true,
  "temporal_ensemble_max_chunks": 4,
  "temporal_ensemble_decay": 0.15,
  "task_memory_enabled": true,
  "task_memory_slots": 8,
  "task_memory_ema": 0.97,
  "task_memory_alpha": 0.25,
  "task_memory_max_norm": 10.0,
  "s1_policy_mode": "jepa_diffusion",
  "enable_jepa_diffusion": true,
  "diffusion_inference_steps": 1,
  "diffusion_loss_weight": 1.0,
  "consistency_loss_weight": 0.5,
  "flow_loss_weight": 0.1,
  "jepa_loss_weight": 0.1,
  "jepa_action_prior_weight": 0.05,
  "jepa_hidden_dim": 256,
  "jepa_latent_dim": 256,
  "jepa_ema_decay": 0.996,
  "jepa_action_prior_alpha": 0.25,
  "jepa_condition_alpha": 1.0,
  "s1_sampling_noise_scale": 1.0,
  "enable_s1_moe": true,
  "s1_moe_num_experts": 10,
  "s1_moe_top_k": 1,
  "s1_moe_expert_hidden_dim": 177000,
  "s1_moe_residual_scale": 0.1,
  "dtype": "bfloat16",
  "s2_refresh_hz": 8.0,
  "max_s2_cache_age_s": 0.2,
  "action_clip": 1.0,
  "smooth_loss_weight": 0.02,
  "action_l1_weight": 0.0,
  "residual_alpha": 1.0,
  "model_type": "rio2",
  "architectures": [
    "Rio2Model"
  ],
  "weight_format": "safetensors",
  "weight_file": "model.safetensors",
  "runtime_type": "two_rate_weight_preserved",
  "auto_map": {
    "AutoConfig": "configuration_rio2.Rio2Config",
    "AutoModel": "modeling_rio2.Rio2Model",
    "AutoProcessor": "processing_rio2.Rio2Processor"
  }
}