Hugging Face's logo

junbrro
/
gr1hp_alignonly_30000

Safetensors
RLDX-1
Model card Files
xet
 Community
gr1hp_alignonly_30000
File size: 3,545 Bytes
22ea509
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
{
  "action_horizon": 16,
  "action_model_lora_alpha": 32,
  "action_model_lora_dropout": 0.0,
  "action_model_lora_rank": 16,
  "action_model_lora_target_modules": [
    "vl_qkv",
    "vl_proj",
    "sa_qkv",
    "sa_proj",
    "p_qkv",
    "p_proj",
    "linear1",
    "linear2"
  ],
  "action_model_use_lora": false,
  "actlat_embodiment_id": "openarm_prq",
  "actlat_mode": false,
  "actlat_prq_stats_path": "",
  "actlat_standardize": false,
  "actlat_tokenizer_path": "",
  "actlat_z_stats_path": "",
  "anchor_dim_norm": "",
  "anchor_dim_stats_path": "",
  "anchor_human_tips_weight": 1.0,
  "anchor_readout_asym": false,
  "anchor_readout_dim": 24,
  "anchor_readout_shuffle": false,
  "anchor_readout_taps": "cog,d2,s3,s7",
  "anchor_readout_tweight": true,
  "anchor_readout_weight": 0.0,
  "anchor_tips_dims": 15,
  "architectures": [
    "RLDX"
  ],
  "backbone_lora_alpha": 32,
  "backbone_lora_dropout": 0.0,
  "backbone_lora_num_layers": -1,
  "backbone_lora_rank": 16,
  "backbone_lora_target_modules": [
    "q_proj",
    "k_proj",
    "v_proj",
    "o_proj",
    "gate_proj",
    "up_proj",
    "down_proj"
  ],
  "backbone_use_lora": false,
  "color_jitter_params": null,
  "conversation_image_first": false,
  "diffusion_model_cfg": {
    "action_model_max_seq_len": 512,
    "attention_head_dim": 64,
    "depth_multi_stream": 4,
    "depth_single_stream": 8,
    "dropout": 0.2,
    "final_dropout": true,
    "num_attention_heads": 24,
    "output_dim": 1024,
    "physics_dim": 0,
    "positional_embeddings": "rope_sa_only",
    "pre_norm": "layer_norm",
    "qk_norm": "rms_norm",
    "rope_theta": 10000.0,
    "sa_dim": 1536,
    "temb_type": "input_token",
    "use_physics": false,
    "use_swiglu": true,
    "vl_dim": 4096
  },
  "dtype": "bfloat16",
  "egopi_split_embodiment": false,
  "embod_reg_gather": false,
  "embod_reg_hand_bins": 0,
  "embod_reg_hand_edges": "",
  "embod_reg_layer": 2,
  "embod_reg_mode": "",
  "embod_reg_tbins": 0,
  "embod_reg_vic_cov": 0.04,
  "embod_reg_vic_var": 1.0,
  "embod_reg_weight": 0.05,
  "freeze_cog_tokens": false,
  "freeze_modules": "",
  "general_embodiment_train_ratio": 0,
  "gr1hp_align_dim": 24,
  "gr1hp_align_only": true,
  "gr1hp_align_shuffle": false,
  "gr1hp_align_weight": 0.2,
  "gr1hp_split_embodiment": false,
  "image_max_area": 65536,
  "image_resize_m": 32,
  "keep_full_lm": false,
  "memory_cfg": {
    "hidden_size": 4096,
    "intermediate_size": 16384,
    "max_position_embeddings": 32,
    "num_attention_heads": 16,
    "num_hidden_layers": 2,
    "num_key_value_heads": 16,
    "rms_norm_eps": 1e-05,
    "use_causal_attn": true,
    "use_rope": true
  },
  "model_name": "RLWRLD/RLDX-1-VLM",
  "model_revision": null,
  "model_type": "RLDX-1",
  "n_cog_tokens": 64,
  "physics_delta_indices": null,
  "physics_dims": [],
  "physics_keys": [],
  "physics_use_flow_matching": true,
  "random_crop_fraction": null,
  "random_rotation_angle": null,
  "rtc_inference_delay": 0,
  "rtc_inference_exec_horizon": 0,
  "rtc_inference_mode": "none",
  "rtc_jacobian_steps_only": 3,
  "rtc_training_max_delay": 0,
  "stage_from_checkpoint": "",
  "state_dropout_prob": 0.0,
  "train_stage": "",
  "transformers_version": "4.57.0",
  "tune_diffusion_model": true,
  "tune_llm": false,
  "tune_projector": true,
  "tune_top_llm_layers": 0,
  "tune_visual": false,
  "use_memory": false,
  "use_motion": false,
  "use_physics": false,
  "use_video": true,
  "video_length": 1,
  "video_stride": 2,
  "vlm_lang_loss": false,
  "vlm_lang_weight": 0.5
}