eo1-base / config.json
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{
"action_act": "linear",
"attn_implementation": null,
"chunk_size": 16,
"device": "cpu",
"dtype": "bfloat16",
"flow_loss_weight": 1.0,
"force_fp32_autocast": true,
"gradient_checkpointing": false,
"image_max_pixels": 100352,
"image_min_pixels": 50176,
"input_features": {},
"license": "mit",
"max_action_dim": 32,
"max_period": 4.0,
"max_state_dim": 32,
"min_period": 0.004,
"n_action_steps": 16,
"n_obs_steps": 1,
"normalization_mapping": {
"ACTION": "MEAN_STD",
"STATE": "MEAN_STD",
"VISUAL": "IDENTITY"
},
"num_action_layers": 2,
"num_denoise_steps": 10,
"optimizer_betas": [
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],
"optimizer_eps": 1e-08,
"optimizer_grad_clip_norm": 1.0,
"optimizer_lr": 0.0001,
"optimizer_weight_decay": 0.1,
"output_features": {},
"pretrained_path": "lerobot/eo1-base",
"pretrained_revision": null,
"private": null,
"push_to_hub": true,
"recipe_path": null,
"repo_id": "lerobot/eo1-base",
"scheduler_decay_lr": 0.0,
"scheduler_decay_steps": 30000,
"scheduler_warmup_steps": 900,
"supervise_padding_action_dims": true,
"supervise_padding_actions": true,
"tags": [
"eo1",
"robotics",
"vision-language-action",
"lerobot"
],
"text_loss_weight": 0.01,
"time_sampling_beta_alpha": 1.5,
"time_sampling_beta_beta": 1.0,
"time_sampling_offset": 0.001,
"time_sampling_scale": 0.999,
"tokenizer_max_length": 1000,
"type": "eo1",
"use_amp": false,
"use_fast_processor": false,
"use_peft": false,
"vlm_base": "lerobot/eo1-base",
"vlm_config": {
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"architectures": [
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],
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"id2label": {
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},
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"return_dict": true,
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"text_config": {
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"hidden_act": "silu",
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"max_position_embeddings": 128000,
"max_window_layers": 70,
"model_type": "qwen2_5_vl_text",
"num_attention_heads": 16,
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"num_key_value_heads": 2,
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"return_dict": true,
"rms_norm_eps": 1e-06,
"rope_parameters": {
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"rope_theta": 1000000.0,
"rope_type": "default",
"type": "mrope"
},
"sliding_window": null,
"use_cache": true,
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},
"tie_word_embeddings": true,
"transformers_version": "5.5.4",
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"vision_config": {
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"spatial_merge_size": 2,
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},
"vision_end_token_id": 151653,
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}
}