huiwon's picture
Add config.json
5e66157 verified
{
"action_dim": 32,
"action_head_cfg": {
"action_dim": 32,
"action_horizon": 16,
"add_pos_embed": true,
"attn_type": "joint_attn_v2",
"backbone_embedding_dim": 4096,
"base_freq": 50.0,
"dct_loss_weight": 0.0,
"diffusion_model_cfg": {
"attention_head_dim": 64,
"cross_attention_dim": 4096,
"depth": 4,
"depth_single_blocks": 8,
"direct_visual_conditioning": null,
"disable_time_token_pos_emb": false,
"dropout": 0.2,
"final_dropout": true,
"interleave_self_attention": true,
"meta_queries_as_modality": false,
"norm_type": "ada_norm",
"num_attention_heads": 24,
"num_layers": 16,
"num_temb_tokens": 1,
"output_dim": 1024,
"positional_embeddings": "rope_sa_only",
"rope_theta": 10000.0,
"state_as_modality": false,
"temb_type": "additional_token",
"use_alternate_vl_conditioning": false,
"use_swiglu": true
},
"discretize_timesteps": false,
"ff_loss_weight": 0.0,
"flow_matching_loss_weight": 1.0,
"hidden_size": 1024,
"input_embedding_dim": 1536,
"max_action_dim": 32,
"max_num_embodiments": 32,
"max_state_dim": 64,
"model_dct": false,
"model_dtype": "float32",
"noise_beta_alpha": 1.5,
"noise_beta_beta": 1.0,
"noise_s": 0.999,
"num_inference_timesteps": 4,
"num_target_vision_tokens": 32,
"num_timestep_buckets": 1000,
"post_norm": "none",
"pre_norm": "layer_norm",
"qk_rmsnorm": false,
"remove_bias": false,
"tune_diffusion_model": true,
"tune_projector": true,
"use_future_tokens": false,
"use_qknorm": true,
"use_rmsnorm": true,
"use_vlln": false,
"vl_self_attention_cfg": {
"attention_head_dim": 64,
"dropout": 0.2,
"final_dropout": true,
"num_attention_heads": 64,
"num_layers": 4,
"positional_embeddings": null
},
"x_prediction": false
},
"action_horizon": 16,
"architectures": [
"GR00T_N1_5"
],
"attn_implementation": null,
"backbone_cfg": {
"load_bf16": false,
"meta_queries_mode": "full",
"n_meta_queries": 4,
"project_to_dim": null,
"qwen_path": "/fsx/alinvla/AlinVLA-VLM/checkpoints/robot_vqa_v2/checkpoint-7647",
"reproject_vision": false,
"select_layer": 18,
"tune_llm": false,
"tune_visual": false,
"use_causal_mask": true,
"use_flash_attention": true,
"use_meta_queries": false
},
"backbone_model_type": "qwen3_vl_8b",
"compute_dtype": "bfloat16",
"dtype": "bfloat16",
"hidden_size": 2048,
"lap_cfg": {},
"max_action_dim": 32,
"model_dtype": "float32",
"model_type": "gr00t_n1_5",
"transformers_version": "5.0.0.dev0",
"tune_diffusion_model": true,
"tune_llm": false,
"tune_projector": true,
"tune_visual": false,
"use_cache": false
}