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config.json

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+{
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dataset_statistics.json

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model.safetensors

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singlevla_config/config.json

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+{
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+  "_name_or_path": "jellyho/TwinVLA",
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+  "action_head": "DiT",
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+  "action_len": 20,
+  "aggregation": "false",
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+  "dataset_statistics_path": null,
+  "denoiser": "FM",
+  "diffusion_batch": 32,
+  "dit_size": "DiT-B",
+  "downsample_ratio": 0.5,
+  "dynamic_image_size": true,
+  "efficient_loss": true,
+  "enable_cfg": true,
+  "force_image_size": 448,
+  "global_normalization": true,
+  "hz_interpolate": 20,
+  "image_size": 224,
+  "interpolate_gripper": false,
+  "keep_aspect_ratio": false,
+  "knowledge_insulation": false,
+  "llm_config": {
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+    "_name_or_path": "./pretrained/Qwen2_5-0_5B-Instruct",
+    "add_cross_attention": false,
+    "architectures": [
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+    "auto_map": {
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+      "AutoModel": "modeling_qwen2.Qwen2Model",
+      "AutoModelForCausalLM": "modeling_qwen2.Qwen2ForCausalLM"
+    },
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+    "pruned_heads": {},
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+  "model_path": "nvidia/Eagle2-1B",
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+  "select_layer": -1,
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+  "stopping_token": "|",
+  "template": "qwen2-chat",
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+  "torch_dtype": "bfloat16",
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+  "transformers_version": null,
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+    "architectures": [
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+    "auto_map": {
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+    "problem_type": null,
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+    "projector_hidden_act": "gelu_fast",
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+}