MiniCPM-RobotManip / config.json
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{
"action_dim": 80,
"action_head_dtype": "float32",
"action_horizon": 30,
"architectures": [
"MiniCPMV_VLA"
],
"dtype": "bfloat16",
"max_num_embodiments": 32,
"model_type": "minicpm_vla",
"num_inference_timesteps": 4,
"state_dim": 80,
"transformers_version": "5.7.0",
"vlm_config": {
"architectures": [
"MiniCPMV4_6ForConditionalGeneration"
],
"bos_token_id": null,
"chunk_size_feed_forward": 0,
"downsample_mode": "16x",
"drop_vision_last_layer": false,
"dtype": null,
"eos_token_id": 248044,
"id2label": {
"0": "LABEL_0",
"1": "LABEL_1"
},
"image_size": 1120,
"image_token_id": 248056,
"insert_layer_id": 6,
"is_encoder_decoder": false,
"label2id": {
"LABEL_0": 0,
"LABEL_1": 1
},
"merge_kernel_size": [
2,
2
],
"merger_times": 1,
"model_type": "minicpmv4_6",
"output_attentions": false,
"output_hidden_states": false,
"pad_token_id": null,
"patch_size": 14,
"problem_type": null,
"return_dict": true,
"text_config": {
"architectures": null,
"attention_bias": false,
"attention_dropout": 0.0,
"attn_output_gate": true,
"bos_token_id": null,
"chunk_size_feed_forward": 0,
"dtype": null,
"eos_token_id": null,
"full_attention_interval": 4,
"head_dim": 256,
"hidden_act": "silu",
"hidden_size": 1024,
"id2label": {
"0": "LABEL_0",
"1": "LABEL_1"
},
"initializer_range": 0.02,
"intermediate_size": 3584,
"is_encoder_decoder": false,
"label2id": {
"LABEL_0": 0,
"LABEL_1": 1
},
"layer_types": [
"linear_attention",
"linear_attention",
"linear_attention",
"full_attention",
"linear_attention",
"linear_attention",
"linear_attention",
"full_attention",
"linear_attention",
"linear_attention",
"linear_attention",
"full_attention",
"linear_attention",
"linear_attention",
"linear_attention",
"full_attention",
"linear_attention",
"linear_attention",
"linear_attention",
"full_attention",
"linear_attention",
"linear_attention",
"linear_attention",
"full_attention"
],
"linear_conv_kernel_dim": 4,
"linear_key_head_dim": 128,
"linear_num_key_heads": 16,
"linear_num_value_heads": 16,
"linear_value_head_dim": 128,
"mamba_ssm_dtype": "float32",
"max_position_embeddings": 262144,
"mlp_only_layers": [],
"model_type": "qwen3_5_text",
"mtp_num_hidden_layers": 1,
"mtp_use_dedicated_embeddings": false,
"num_attention_heads": 8,
"num_hidden_layers": 24,
"num_key_value_heads": 2,
"output_attentions": false,
"output_hidden_states": false,
"pad_token_id": null,
"partial_rotary_factor": 0.25,
"problem_type": null,
"return_dict": true,
"rms_norm_eps": 1e-06,
"rope_parameters": {
"partial_rotary_factor": 0.25,
"rope_theta": 10000000,
"rope_type": "default"
},
"tie_word_embeddings": true,
"use_cache": true,
"vocab_size": 248094
},
"tie_word_embeddings": true,
"transformers_version": "5.7.0",
"video_token_id": 248057,
"vision_config": {
"architectures": null,
"attention_dropout": 0.0,
"chunk_size_feed_forward": 0,
"dtype": null,
"hidden_act": "gelu_pytorch_tanh",
"hidden_size": 1152,
"id2label": {
"0": "LABEL_0",
"1": "LABEL_1"
},
"image_size": 980,
"insert_layer_id": 6,
"intermediate_size": 4304,
"is_encoder_decoder": false,
"label2id": {
"LABEL_0": 0,
"LABEL_1": 1
},
"layer_norm_eps": 1e-06,
"num_attention_heads": 16,
"num_channels": 3,
"num_hidden_layers": 27,
"output_attentions": false,
"output_hidden_states": false,
"patch_size": 14,
"problem_type": null,
"return_dict": true,
"window_kernel_size": [
2,
2
]
}
},
"vlm_dtype": "bfloat16",
"auto_map": {
"AutoConfig": "configuration_minicpm_vla.MiniCPMVLAConfig",
"AutoModel": "modeling_minicpm_vla.MiniCPMV_VLA"
}
}