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DIAL_checkpoints

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DIAL_checkpoints
File size: 2,518 Bytes
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{
  "action_dim": 128,
  "action_head_cfg": {
    "action_dim": 128,
    "action_horizon": 16,
    "add_pos_embed": true,
    "backbone_embedding_dim": 2048,
    "correct_vl_mask": false,
    "diffusion_model_cfg": {
      "attention_head_dim": 48,
      "cross_attention_dim": 2048,
      "dropout": 0.2,
      "final_dropout": true,
      "interleave_self_attention": true,
      "norm_type": "ada_norm",
      "num_attention_heads": 32,
      "num_layers": 16,
      "output_dim": 1024,
      "positional_embeddings": null
    },
    "hidden_size": 1024,
    "input_embedding_dim": 1536,
    "max_action_dim": 128,
    "max_state_dim": 128,
    "model_dtype": "float32",
    "noise_beta_alpha": 1.5,
    "noise_beta_beta": 1.0,
    "noise_s": 0.999,
    "num_inference_timesteps": 4,
    "num_target_vision_tokens": 0,
    "num_timestep_buckets": 1000,
    "tune_diffusion_model": true,
    "tune_projector": true,
    "use_vl_mask": false,
    "use_vlln": true,
    "vl_self_attention_cfg": {
      "attention_head_dim": 64,
      "dropout": 0.2,
      "final_dropout": true,
      "num_attention_heads": 32,
      "num_layers": 4,
      "positional_embeddings": null
    }
  },
  "action_horizon": 16,
  "architectures": [
    "GR00T_N1_5_DIAL"
  ],
  "attn_implementation": null,
  "backbone_cfg": {
    "load_bf16": false,
    "project_to_dim": null,
    "reproject_vision": false,
    "select_layer": 36,
    "tune_all_llm_embedding": false,
    "tune_bridge_embedding": true,
    "tune_llm": true,
    "tune_visual": false,
    "use_flash_attention": true,
    "vlm_path": "Qwen/Qwen2.5-VL-3B-Instruct"
  },
  "bridge_cfg": {
    "action_only_one_obs": false,
    "bridge_loss_decay_steps": null,
    "bridge_loss_end_w": null,
    "bridge_loss_type": "mse",
    "bridge_type": "end2end",
    "compute_bridge_loss": true,
    "goal_image_type": "future",
    "noise_tau": 0,
    "num_bridge_tokens": 64,
    "omit_image_type_embedding_for_goal": false,
    "reweight_noise": false,
    "tokenizer_len": 151729,
    "tune_bridge_goal": false,
    "tune_bridge_visual": false,
    "tune_image_type_embedding": true,
    "unified_embodiment_id": null,
    "use_bridge": true,
    "use_image_type_embedding": true,
    "use_separate_projector_for_loss": true
  },
  "compute_dtype": "bfloat16",
  "hidden_size": 2048,
  "ignore_lang_prefix": true,
  "model_dtype": "float32",
  "model_type": "gr00t_n1_5_dial",
  "torch_dtype": "float32",
  "transformers_version": "4.52.0",
  "video_delta_indices": [
    0
  ]
}