| framework: | |
| name: QwenGR00T_with_Language | |
| qwenvl: | |
| base_vlm: Qwen/Qwen2.5-VL-3B-Instruct | |
| attn_implementation: flash_attention_2 | |
| vl_hidden_dim: 2048 | |
| dino: | |
| dino_backbone: dinov2_vits14 | |
| action_model: | |
| action_model_type: DiT-B | |
| action_hidden_dim: 2560 | |
| hidden_size: 1024 | |
| add_pos_embed: true | |
| max_seq_len: 1024 | |
| action_dim: 11 | |
| state_dim: 11 | |
| future_action_window_size: 4 | |
| action_horizon: 5 | |
| past_action_window_size: 0 | |
| num_inference_timesteps: 4 | |
| num_target_vision_tokens: 32 | |
| noise_beta_alpha: 1.5 | |
| noise_beta_beta: 1.0 | |
| noise_s: 0.999 | |
| num_timestep_buckets: 1000 | |
| diffusion_model_cfg: | |
| cross_attention_dim: 2048 | |
| dropout: 0.2 | |
| final_dropout: true | |
| interleave_self_attention: true | |
| norm_type: ada_norm | |
| num_layers: 16 | |
| output_dim: 1024 | |
| positional_embeddings: null | |
| datasets: | |
| vla_data: | |
| history_window_size: 7 | |
| action_chunk_size: 5 | |
| vla_data2: | |
| default_image_resolution: | |
| - 3 | |
| - 224 | |
| - 224 | |
| image_size: | |
| - 224 | |
| - 224 | |
| action_chunk_size: 5 | |