Safetensors
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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": {
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"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": {
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"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": {
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"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
]
}