| { |
| "architectures": [ |
| "Alpamayo2Super" |
| ], |
| "cotrain_expert_vlm": false, |
| "dtype": "bfloat16", |
| "enable_expert": true, |
| "encode_as_video": false, |
| "expert_config": { |
| "action_in_proj_cfg": { |
| "_target_": "alpamayo2_super.models.action_in_proj.PerWaypointActionInProjV2", |
| "hidden_size": 512, |
| "max_freq": 100.0, |
| "num_enc_layers": 2, |
| "num_fourier_feats": 20 |
| }, |
| "action_out_proj_cfg": { |
| "_target_": "torch.nn.Linear" |
| }, |
| "action_space_cfg": { |
| "_target_": "alpamayo2_super.action_space.UnicycleAccelCurvatureActionSpace", |
| "a_lambda": 0.0001, |
| "a_ridge": 0.0001, |
| "accel_bounds": [ |
| -9.8, |
| 9.8 |
| ], |
| "accel_mean": 0.02902694707164455, |
| "accel_std": 0.6810426736454882, |
| "curvature_bounds": [ |
| -0.33, |
| 0.33 |
| ], |
| "curvature_mean": 0.0002692167976330542, |
| "curvature_std": 0.026148280660833106, |
| "dt": 0.1, |
| "kappa_lambda": 0.0001, |
| "kappa_ridge": 0.0001, |
| "n_waypoints": 64, |
| "theta_lambda": 1e-06, |
| "theta_ridge": 1e-08, |
| "v_lambda": 1e-06, |
| "v_ridge": 0.0001 |
| }, |
| "cache_layer_indices": null, |
| "diffusion_cfg": { |
| "_target_": "alpamayo2_super.diffusion.flow_matching.FlowMatching", |
| "inference_guidance_weight": 3.0, |
| "int_method": "euler", |
| "train_ignore_guidance_rate": 0.1, |
| "train_timestep_sampler": "beta", |
| "use_classifier_free_guidance": false, |
| "x_dims": null |
| }, |
| "expert_non_causal_attention": true, |
| "expert_update_cfg": { |
| "head_dim": 128, |
| "hidden_size": 1536, |
| "intermediate_size": 6144, |
| "num_attention_heads": 16 |
| }, |
| "llm_config": { |
| "_name_or_path": "", |
| "add_cross_attention": false, |
| "architectures": null, |
| "attention_bias": false, |
| "attention_dropout": 0.0, |
| "bad_words_ids": null, |
| "begin_suppress_tokens": null, |
| "bos_token_id": 151643, |
| "chunk_size_feed_forward": 0, |
| "cross_attention_hidden_size": null, |
| "decoder_start_token_id": null, |
| "diversity_penalty": 0.0, |
| "do_sample": false, |
| "dtype": "bfloat16", |
| "early_stopping": false, |
| "encoder_no_repeat_ngram_size": 0, |
| "eos_token_id": 151645, |
| "exponential_decay_length_penalty": null, |
| "finetuning_task": null, |
| "forced_bos_token_id": null, |
| "forced_eos_token_id": null, |
| "head_dim": 128, |
| "hidden_act": "silu", |
| "hidden_size": 1536, |
| "id2label": { |
| "0": "LABEL_0", |
| "1": "LABEL_1" |
| }, |
| "initializer_range": 0.02, |
| "intermediate_size": 6144, |
| "is_decoder": false, |
| "is_encoder_decoder": false, |
| "label2id": { |
| "LABEL_0": 0, |
| "LABEL_1": 1 |
| }, |
| "length_penalty": 1.0, |
| "max_length": 20, |
| "max_position_embeddings": 262144, |
| "min_length": 0, |
| "model_type": "qwen3_vl_text", |
| "no_repeat_ngram_size": 0, |
| "num_attention_heads": 16, |
| "num_beam_groups": 1, |
| "num_beams": 1, |
| "num_hidden_layers": 64, |
| "num_key_value_heads": 8, |
| "num_return_sequences": 1, |
| "output_attentions": false, |
| "output_hidden_states": false, |
| "output_scores": false, |
| "pad_token_id": null, |
| "prefix": null, |
| "problem_type": null, |
| "pruned_heads": {}, |
| "remove_invalid_values": false, |
| "repetition_penalty": 1.0, |
| "return_dict": true, |
| "return_dict_in_generate": false, |
| "rms_norm_eps": 1e-06, |
| "rope_scaling": { |
| "mrope_interleaved": true, |
| "mrope_section": [ |
| 24, |
| 20, |
| 20 |
| ], |
| "rope_type": "default" |
| }, |
| "rope_theta": 5000000, |
| "sep_token_id": null, |
| "suppress_tokens": null, |
| "task_specific_params": null, |
| "temperature": 1.0, |
| "tf_legacy_loss": false, |
| "tie_encoder_decoder": false, |
| "tie_word_embeddings": false, |
| "tokenizer_class": null, |
| "top_k": 50, |
| "top_p": 1.0, |
| "torchscript": false, |
| "typical_p": 1.0, |
| "use_bfloat16": false, |
| "use_cache": true, |
| "vocab_size": 155776 |
| }, |
| "model_type": "alpamayo2_super_expert" |
| }, |
| "frame_label": "frame_num", |
| "future_traj_tokenizer_cfg": { |
| "_recursive_": false, |
| "_target_": "alpamayo2_super.action_space.discrete_action_space.DiscreteTrajectoryTokenizer", |
| "action_space_cfg": { |
| "_target_": "alpamayo2_super.action_space.UnicycleAccelCurvatureActionSpace", |
| "a_lambda": 0.0001, |
| "a_ridge": 0.0001, |
| "accel_bounds": [ |
| -9.8, |
| 9.8 |
| ], |
| "accel_mean": 0.02902694707164455, |
| "accel_std": 0.6810426736454882, |
| "curvature_bounds": [ |
| -0.33, |
| 0.33 |
| ], |
| "curvature_mean": 0.0002692167976330542, |
| "curvature_std": 0.026148280660833106, |
| "dt": 0.1, |
| "kappa_lambda": 0.0001, |
| "kappa_ridge": 0.0001, |
| "n_waypoints": 64, |
| "theta_lambda": 1e-06, |
| "theta_ridge": 1e-08, |
| "v_lambda": 1e-06, |
| "v_ridge": 0.0001 |
| }, |
| "dims_max": [ |
| 10, |
| 10 |
| ], |
| "dims_min": [ |
| -10, |
| -10 |
| ], |
| "num_bins": 3000 |
| }, |
| "future_vocab_size": 3000, |
| "hist_traj_tokenizer_cfg": { |
| "_target_": "alpamayo2_super.models.delta_tokenizer.DeltaTrajectoryTokenizer", |
| "pad_origin_at_beginning": false |
| }, |
| "history_vocab_size": 1000, |
| "include_camera_ids": true, |
| "loss_weights": { |
| "future_traj": 1.0, |
| "others": 1.0 |
| }, |
| "max_pixels": 196608, |
| "min_pixels": 163840, |
| "model_type": "alpamayo2_super", |
| "padding_side": "left", |
| "token_layout": "camera_ts", |
| "tokens_per_future_traj": 128, |
| "tokens_per_history_traj": 45, |
| "traj_ids": { |
| "future_end": 155683, |
| "future_id0": 152669, |
| "future_pad": 155685, |
| "future_start": 155681, |
| "history_end": 155676, |
| "history_id0": 151669, |
| "history_pad": 155684, |
| "history_start": 155674 |
| }, |
| "traj_vocab_size": 4000, |
| "transformers_version": "4.57.6", |
| "video_max_pixels": null, |
| "video_min_pixels": null, |
| "video_pixels_per_frame": false, |
| "vlm_class": "Qwen3VLForConditionalGeneration", |
| "vlm_config": { |
| "_name_or_path": "", |
| "architectures": [ |
| "Qwen3VLForConditionalGeneration" |
| ], |
| "dtype": "bfloat16", |
| "image_token_id": 151655, |
| "model_type": "qwen3_vl", |
| "text_config": { |
| "_name_or_path": "", |
| "add_cross_attention": false, |
| "architectures": null, |
| "attention_bias": false, |
| "attention_dropout": 0.0, |
| "bad_words_ids": null, |
| "begin_suppress_tokens": null, |
| "bos_token_id": 151643, |
| "chunk_size_feed_forward": 0, |
| "cross_attention_hidden_size": null, |
| "decoder_start_token_id": null, |
| "diversity_penalty": 0.0, |
| "do_sample": false, |
| "dtype": "bfloat16", |
| "early_stopping": false, |
| "encoder_no_repeat_ngram_size": 0, |
| "eos_token_id": 151645, |
| "exponential_decay_length_penalty": null, |
| "finetuning_task": null, |
| "forced_bos_token_id": null, |
| "forced_eos_token_id": null, |
| "head_dim": 128, |
| "hidden_act": "silu", |
| "hidden_size": 5120, |
| "id2label": { |
| "0": "LABEL_0", |
| "1": "LABEL_1" |
| }, |
| "initializer_range": 0.02, |
| "intermediate_size": 25600, |
| "is_decoder": false, |
| "is_encoder_decoder": false, |
| "label2id": { |
| "LABEL_0": 0, |
| "LABEL_1": 1 |
| }, |
| "length_penalty": 1.0, |
| "max_length": 20, |
| "max_position_embeddings": 262144, |
| "min_length": 0, |
| "model_type": "qwen3_vl_text", |
| "no_repeat_ngram_size": 0, |
| "num_attention_heads": 64, |
| "num_beam_groups": 1, |
| "num_beams": 1, |
| "num_hidden_layers": 64, |
| "num_key_value_heads": 8, |
| "num_return_sequences": 1, |
| "output_attentions": false, |
| "output_hidden_states": false, |
| "output_scores": false, |
| "pad_token_id": null, |
| "prefix": null, |
| "problem_type": null, |
| "pruned_heads": {}, |
| "remove_invalid_values": false, |
| "repetition_penalty": 1.0, |
| "return_dict": true, |
| "return_dict_in_generate": false, |
| "rms_norm_eps": 1e-06, |
| "rope_scaling": { |
| "mrope_interleaved": true, |
| "mrope_section": [ |
| 24, |
| 20, |
| 20 |
| ], |
| "rope_type": "default" |
| }, |
| "rope_theta": 5000000, |
| "sep_token_id": null, |
| "suppress_tokens": null, |
| "task_specific_params": null, |
| "temperature": 1.0, |
| "tf_legacy_loss": false, |
| "tie_encoder_decoder": false, |
| "tie_word_embeddings": false, |
| "tokenizer_class": null, |
| "top_k": 50, |
| "top_p": 1.0, |
| "torchscript": false, |
| "typical_p": 1.0, |
| "use_bfloat16": false, |
| "use_cache": true, |
| "vocab_size": 155776 |
| }, |
| "video_token_id": 151656, |
| "vision_config": { |
| "_name_or_path": "", |
| "add_cross_attention": false, |
| "architectures": null, |
| "bad_words_ids": null, |
| "begin_suppress_tokens": null, |
| "bos_token_id": null, |
| "chunk_size_feed_forward": 0, |
| "cross_attention_hidden_size": null, |
| "decoder_start_token_id": null, |
| "deepstack_visual_indexes": [ |
| 8, |
| 16, |
| 24 |
| ], |
| "depth": 27, |
| "diversity_penalty": 0.0, |
| "do_sample": false, |
| "dtype": "bfloat16", |
| "early_stopping": false, |
| "encoder_no_repeat_ngram_size": 0, |
| "eos_token_id": null, |
| "exponential_decay_length_penalty": null, |
| "finetuning_task": null, |
| "forced_bos_token_id": null, |
| "forced_eos_token_id": null, |
| "hidden_act": "gelu_pytorch_tanh", |
| "hidden_size": 1152, |
| "id2label": { |
| "0": "LABEL_0", |
| "1": "LABEL_1" |
| }, |
| "in_channels": 3, |
| "initializer_range": 0.02, |
| "intermediate_size": 4304, |
| "is_decoder": false, |
| "is_encoder_decoder": false, |
| "label2id": { |
| "LABEL_0": 0, |
| "LABEL_1": 1 |
| }, |
| "length_penalty": 1.0, |
| "max_length": 20, |
| "min_length": 0, |
| "model_type": "qwen3_vl", |
| "no_repeat_ngram_size": 0, |
| "num_beam_groups": 1, |
| "num_beams": 1, |
| "num_heads": 16, |
| "num_position_embeddings": 2304, |
| "num_return_sequences": 1, |
| "out_hidden_size": 5120, |
| "output_attentions": false, |
| "output_hidden_states": false, |
| "output_scores": false, |
| "pad_token_id": null, |
| "patch_size": 16, |
| "prefix": null, |
| "problem_type": null, |
| "pruned_heads": {}, |
| "remove_invalid_values": false, |
| "repetition_penalty": 1.0, |
| "return_dict": true, |
| "return_dict_in_generate": false, |
| "sep_token_id": null, |
| "spatial_merge_size": 2, |
| "suppress_tokens": null, |
| "task_specific_params": null, |
| "temperature": 1.0, |
| "temporal_patch_size": 2, |
| "tf_legacy_loss": false, |
| "tie_encoder_decoder": false, |
| "tie_word_embeddings": true, |
| "tokenizer_class": null, |
| "top_k": 50, |
| "top_p": 1.0, |
| "torchscript": false, |
| "typical_p": 1.0, |
| "use_bfloat16": false |
| }, |
| "vision_end_token_id": 151653, |
| "vision_start_token_id": 151652 |
| }, |
| "vlm_name_or_path": "" |
| } |
|
|