Upload experiment_cfg/final_model_config.json
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experiment_cfg/final_model_config.json
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{
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"model_type": "Gr00tN1d6",
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"model_dtype": "bfloat16",
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"model_name": "nvidia/Eagle-Block2A-2B-v2",
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"backbone_model_type": "eagle",
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"model_revision": null,
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"tune_top_llm_layers": 4,
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"backbone_embedding_dim": 2048,
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"tune_llm": false,
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"tune_visual": false,
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"select_layer": 16,
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"reproject_vision": false,
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"use_flash_attention": true,
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"load_bf16": true,
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"collator_overwrite_image_inputs": false,
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"eagle_collator": true,
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"backbone_trainable_params_fp32": true,
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"apply_sincos_state_encoding": true,
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"use_relative_action": true,
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"random_diffusion": false,
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"max_state_dim": 128,
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"max_action_dim": 128,
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"action_horizon": 50,
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"hidden_size": 1024,
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"input_embedding_dim": 1536,
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"add_pos_embed": true,
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"attn_dropout": 0.2,
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"use_vlln": true,
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"max_seq_len": 1024,
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"use_alternate_vl_dit": true,
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"attend_text_every_n_blocks": 2,
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"diffusion_model_cfg": {
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"attention_head_dim": 48,
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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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"norm_type": "ada_norm",
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"num_attention_heads": 32,
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"num_layers": 32,
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"output_dim": 1024,
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"positional_embeddings": null
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},
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"num_inference_timesteps": 4,
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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_timestep_buckets": 1000,
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"inference_rtc_overlap_steps": null,
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"inference_rtc_frozen_steps": null,
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"rtc_ramp_rate": 10.0,
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"tune_projector": true,
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"tune_diffusion_model": true,
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"tune_vlln": true,
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"state_dropout_prob": 0.0,
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"state_additive_noise_scale": 0.0,
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"max_num_embodiments": 32
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}
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