Add config.json
Browse files- config.json +103 -0
config.json
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{
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"action_dim": 32,
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"action_head_cfg": {
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"action_dim": 32,
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"action_horizon": 16,
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"add_pos_embed": true,
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"attn_type": "joint_attn_v2",
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"backbone_embedding_dim": 4096,
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"base_freq": 50.0,
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"dct_loss_weight": 0.0,
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"diffusion_model_cfg": {
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"attention_head_dim": 64,
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| 13 |
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"cross_attention_dim": 4096,
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"depth": 4,
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"depth_single_blocks": 8,
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"direct_visual_conditioning": null,
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"disable_time_token_pos_emb": false,
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"dropout": 0.2,
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"final_dropout": true,
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"interleave_self_attention": true,
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"meta_queries_as_modality": false,
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"norm_type": "ada_norm",
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"num_attention_heads": 24,
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"num_layers": 16,
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"num_temb_tokens": 1,
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"output_dim": 1024,
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"positional_embeddings": "rope_sa_only",
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"rope_theta": 10000.0,
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"state_as_modality": false,
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"temb_type": "additional_token",
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"use_alternate_vl_conditioning": false,
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"use_swiglu": true
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},
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"discretize_timesteps": false,
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"ff_loss_weight": 0.0,
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"flow_matching_loss_weight": 1.0,
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"hidden_size": 1024,
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"input_embedding_dim": 1536,
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"max_action_dim": 32,
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"max_num_embodiments": 32,
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"max_state_dim": 64,
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"model_dct": false,
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"model_dtype": "float32",
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"noise_beta_alpha": 1.5,
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"noise_beta_beta": 1.0,
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"noise_s": 0.999,
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"num_inference_timesteps": 4,
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"num_target_vision_tokens": 32,
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"num_timestep_buckets": 1000,
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"post_norm": "none",
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"pre_norm": "layer_norm",
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"qk_rmsnorm": false,
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"remove_bias": false,
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"tune_diffusion_model": true,
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"tune_projector": true,
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"use_future_tokens": false,
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| 57 |
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"use_qknorm": true,
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"use_rmsnorm": true,
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"use_vlln": false,
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"vl_self_attention_cfg": {
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"attention_head_dim": 64,
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"dropout": 0.2,
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| 63 |
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"final_dropout": true,
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"num_attention_heads": 64,
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"num_layers": 4,
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| 66 |
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"positional_embeddings": null
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},
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"x_prediction": false
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},
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"action_horizon": 16,
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"architectures": [
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"GR00T_N1_5"
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],
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"attn_implementation": null,
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| 75 |
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"backbone_cfg": {
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"load_bf16": false,
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"meta_queries_mode": "full",
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"n_meta_queries": 4,
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| 79 |
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"project_to_dim": null,
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| 80 |
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"qwen_path": "/fsx/alinvla/AlinVLA-VLM/checkpoints/robot_vqa_v2/checkpoint-7647",
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"reproject_vision": false,
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| 82 |
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"select_layer": 18,
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| 83 |
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"tune_llm": false,
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"tune_visual": false,
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"use_causal_mask": true,
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"use_flash_attention": true,
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"use_meta_queries": false
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},
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"backbone_model_type": "qwen3_vl_8b",
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"compute_dtype": "bfloat16",
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"dtype": "bfloat16",
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"hidden_size": 2048,
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"lap_cfg": {},
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"max_action_dim": 32,
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"model_dtype": "float32",
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"model_type": "gr00t_n1_5",
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| 97 |
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"transformers_version": "5.0.0.dev0",
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| 98 |
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"tune_diffusion_model": true,
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| 99 |
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"tune_llm": false,
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| 100 |
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"tune_projector": true,
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| 101 |
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"tune_visual": false,
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| 102 |
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"use_cache": false
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}
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