| action_chunk_size: 51 | |
| vla_prepend_rows: 21 | |
| trajectory_chunk_size: 30 | |
| model: | |
| action_chunk_size: 51 | |
| learnable_token_count: 0 | |
| use_cognition_token: false | |
| vlm_feature_layer: | |
| - 3 | |
| - 6 | |
| - 12 | |
| - 18 | |
| first_frame: | |
| enable: true | |
| mode: prepend | |
| t: relative | |
| state_encoder: | |
| use_state_in_llm: false | |
| use_state_in_act_head: true | |
| state_norm: false | |
| set_state_to_zero: false | |
| extra_encoders: | |
| fov: | |
| dim: 2 | |
| enabled: true | |
| use_norm: false | |
| concat_mask: false | |
| inject_to: act_head | |
| num_tokens: 3 | |
| lora: | |
| enabled: false | |
| vl_encoders: | |
| - name: Qwen35VLEncoder | |
| model_name_or_path: Alibaba-DAMO-Academy/RynnBrain1.1-2B | |
| use_system_prompt: true | |
| act_head: | |
| state_fov_injection: adaln | |
| type: flow_matching | |
| action_feature_length: 1000 | |
| only_use_cognition_token_as_input: false | |
| position_embedding: | |
| pe_type: hwt_rope | |
| rope: | |
| base: 10000.0 | |
| action_start: 512 | |
| history_t: -1 | |
| flow_matching_config: | |
| net: | |
| model_type: MoT | |
| depth: 24 | |
| hidden_size: 1536 | |
| num_heads: 12 | |
| mlp_ratio: 4.0 | |
| qk_norm: true | |
| stream_order: | |
| - condition | |
| - action | |
| streams: | |
| condition: | |
| class_name: TransformerStream | |
| args: | |
| input_norm: false | |
| action: | |
| class_name: TransformerStream | |
| args: | |
| input_norm: false | |
| causal: false | |
| reads_from: | |
| condition: | |
| - condition | |
| action: | |
| - condition | |
| - action | |
| loop_config: | |
| max_repeats: 1 | |
| lora: | |
| condition: | |
| enabled: false | |
| action: | |
| enabled: false | |
| predict_x0: true | |
| predict_x0_v: false | |
| train_dataset: | |
| collator: | |
| vla_prepend_rows: 21 | |
| frame_dataset: | |
| action_chunk_size: 30 | |
| post_processor: | |
| instruction_lower: true | |
| datasets_params: | |
| common: | |
| action_chunk_size: 30 | |
| action_space: camera | |
| state_space: camera | |
| rotation_type: 6d | |
| state_rotation_type: null | |
| translation_action_from_state_type: abs | |
| rotation_action_from_state_type: abs | |
| state_include_gripper: true | |
| view_number: 3 | |
| force_gripper_identity_norm: true | |
| UnifiedV2EpisodicDataset: | |
| add_state_gripper: true | |
| separate_robot_action_features: false | |
| target_fps: null | |
| resize_short_edge: 256 | |
| enable_history_image: false | |
| instruction_prefix: '' | |
| image_history: | |
| enable: true | |
| offsets: | |
| - -25 | |