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config.json

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+{
+  "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
+    }
+  }
+}