Add files using upload-large-folder tool
Browse files- .gitattributes +1 -0
- README.md +136 -0
- base_vlm/added_custom_token_id_map.json +2050 -0
- base_vlm/chat_template.jinja +154 -0
- base_vlm/config.json +113 -0
- base_vlm/generation_config.json +6 -0
- base_vlm/processor_config.json +63 -0
- base_vlm/tokenizer.json +3 -0
- base_vlm/tokenizer_config.json +2082 -0
- checkpoints/model-00001-of-00003.safetensors +3 -0
- checkpoints/model-00002-of-00003.safetensors +3 -0
- checkpoints/model-00003-of-00003.safetensors +3 -0
- checkpoints/model.safetensors.index.json +0 -0
- config.yaml +84 -0
- dataset_statistics.json +0 -0
.gitattributes
CHANGED
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*.zip filter=lfs diff=lfs merge=lfs -text
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*.zst filter=lfs diff=lfs merge=lfs -text
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*tfevents* filter=lfs diff=lfs merge=lfs -text
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*.zip filter=lfs diff=lfs merge=lfs -text
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*.zst filter=lfs diff=lfs merge=lfs -text
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*tfevents* filter=lfs diff=lfs merge=lfs -text
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base_vlm/tokenizer.json filter=lfs diff=lfs merge=lfs -text
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README.md
ADDED
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@@ -0,0 +1,136 @@
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| 1 |
+
---
|
| 2 |
+
license: mit
|
| 3 |
+
library_name: pointmapvla
|
| 4 |
+
pipeline_tag: robotics
|
| 5 |
+
tags:
|
| 6 |
+
- robotics
|
| 7 |
+
- vision-language-action
|
| 8 |
+
- pointmap
|
| 9 |
+
- qwen3.5
|
| 10 |
+
- flow-matching
|
| 11 |
+
---
|
| 12 |
+
|
| 13 |
+
# PointmapVLA-Pretrained
|
| 14 |
+
|
| 15 |
+
The pretrained PointmapVLA model: the initialisation for every fine-tuned PointmapVLA
|
| 16 |
+
checkpoint. Code, fine-tuning recipes and the evaluation harness are in the
|
| 17 |
+
[PointmapVLA repository](https://github.com/DAVIAN-Robotics/PointmapVLA).
|
| 18 |
+
|
| 19 |
+
## What it is
|
| 20 |
+
|
| 21 |
+
PointmapVLA is a vision-language-action model built on the Qwen3.5-4B vision-language
|
| 22 |
+
backbone with two additions:
|
| 23 |
+
|
| 24 |
+
* a **pointmap encoder**, a copy of the vision tower that consumes raw metric XYZ pointmaps
|
| 25 |
+
in the robot-base frame (built from depth and camera parameters) and whose features are
|
| 26 |
+
added patch-wise to the RGB tokens, and
|
| 27 |
+
* a **32-layer layer-wise flow-matching DiT action expert** that reads the backbone's
|
| 28 |
+
hidden states at every layer through per-layer projections and predicts a chunk of
|
| 29 |
+
normalised actions (4 Euler steps at inference).
|
| 30 |
+
|
| 31 |
+
6.08 B parameters, bf16. This checkpoint has a generic 32-D action head (17 real
|
| 32 |
+
dimensions: end-effector position 3, rotation as 6-D (first two rows of the rotation
|
| 33 |
+
matrix) 6, gripper 1, joints 7, then padding) and a 17-D state head. It is **not meant to
|
| 34 |
+
be run as is**: fine-tune it on your target robot and action layout.
|
| 35 |
+
|
| 36 |
+
## Provenance
|
| 37 |
+
|
| 38 |
+
Two pretraining stages on 76.3 M pointmap-enriched robot frames and 10.7 M
|
| 39 |
+
pointmap-paired 3D spatial VQA samples, global batch 368:
|
| 40 |
+
|
| 41 |
+
1. **Stage 1**, 50,000 steps: next-token prediction on the VQA data and discrete
|
| 42 |
+
(tokenised) action prediction on the robot data.
|
| 43 |
+
2. **Stage 2**, 50,000 steps: flow-matching action prediction with the DiT expert,
|
| 44 |
+
co-trained with the VQA data.
|
| 45 |
+
|
| 46 |
+
The pretraining data and code are not part of this release. The configuration stored in
|
| 47 |
+
`config.yaml` records the architecture and the data recipe (prompt template, pointmap
|
| 48 |
+
options, 256 x 320 pointmaps); the benchmark fine-tuning configs override the head
|
| 49 |
+
dimensions and pointmap size.
|
| 50 |
+
|
| 51 |
+
## Files
|
| 52 |
+
|
| 53 |
+
```
|
| 54 |
+
config.yaml architecture and data recipe (release schema)
|
| 55 |
+
dataset_statistics.json pretraining action/state statistics (informational)
|
| 56 |
+
base_vlm/ Qwen3.5-4B config, tokenizer and processor only; no weights
|
| 57 |
+
checkpoints/
|
| 58 |
+
model-00001-of-00003.safetensors
|
| 59 |
+
model-00002-of-00003.safetensors
|
| 60 |
+
model-00003-of-00003.safetensors ~11 GB in total, bf16
|
| 61 |
+
model.safetensors.index.json
|
| 62 |
+
```
|
| 63 |
+
|
| 64 |
+
State-dict key groups: `qwen_vl_interface.model.*` (backbone), `pointmap_encoder.*`,
|
| 65 |
+
`action_model.*` (DiT expert), `project_layers.*` (per-layer projections). The language
|
| 66 |
+
model head is tied to the token embedding and stored once; the index records it under
|
| 67 |
+
`metadata.tied_weights` and the loader re-ties it.
|
| 68 |
+
|
| 69 |
+
## How to load
|
| 70 |
+
|
| 71 |
+
```python
|
| 72 |
+
from starVLA.model.framework.VLM4A.PointmapVLA import PointmapVLA
|
| 73 |
+
|
| 74 |
+
model = PointmapVLA.from_pretrained("DAVIAN-Robotics/PointmapVLA-Pretrained")
|
| 75 |
+
```
|
| 76 |
+
|
| 77 |
+
`from_pretrained` also accepts a local directory or a weight file inside its
|
| 78 |
+
`checkpoints/`. For fine-tuning, set `trainer.pretrained_checkpoint` in a training config
|
| 79 |
+
to this repo id (the shipped configs already do) and run
|
| 80 |
+
|
| 81 |
+
```bash
|
| 82 |
+
scripts/train.sh examples/simBenchmarks/Robocasa_kitchen/train_files/pointmapvla_robocasa_kitchen.yaml
|
| 83 |
+
scripts/train.sh examples/simBenchmarks/LIBERO/train_files/pointmapvla_libero.yaml
|
| 84 |
+
```
|
| 85 |
+
|
| 86 |
+
On load into a fine-tuning config, the four action-head tensors whose shape depends on
|
| 87 |
+
the action/state layout (state encoder input, action encoder input, action decoder output
|
| 88 |
+
weight and bias) are remapped: the slots shared by both layouts (end-effector position,
|
| 89 |
+
r6 rotation, gripper) are copied, the rest are freshly initialised. Everything else
|
| 90 |
+
transfers unchanged. Four GPUs is the minimum for fine-tuning; see `docs/training.md` in
|
| 91 |
+
the repository.
|
| 92 |
+
|
| 93 |
+
## Evaluation
|
| 94 |
+
|
| 95 |
+
This checkpoint is not evaluated directly. The fine-tuned checkpoints derived from it:
|
| 96 |
+
|
| 97 |
+
| Fine-tune | Benchmark | Paper | Our reproduction |
|
| 98 |
+
|---|---|---|---|
|
| 99 |
+
| [`PointmapVLA-RoboCasa`](https://huggingface.co/DAVIAN-Robotics/PointmapVLA-RoboCasa) | RoboCasa kitchen-24 | 78.2 | 77.8 ± 0.6 |
|
| 100 |
+
| [`PointmapVLA-LIBERO`](https://huggingface.co/DAVIAN-Robotics/PointmapVLA-LIBERO) | LIBERO (4 suites) | 99.0 | 99.1 ± 0.1 |
|
| 101 |
+
| [`PointmapVLA-LIBERO`](https://huggingface.co/DAVIAN-Robotics/PointmapVLA-LIBERO) | LIBERO-Plus | 92.4 | 92.4 ± 0.3 |
|
| 102 |
+
|
| 103 |
+
## Intended use and limitations
|
| 104 |
+
|
| 105 |
+
* Research on 3D-aware vision-language-action models; initialisation for fine-tuning.
|
| 106 |
+
* Inputs: RGB views, a language instruction, a proprioceptive state and metric pointmaps
|
| 107 |
+
in the robot-base frame (depth + intrinsics + camera-to-world extrinsics + base pose).
|
| 108 |
+
Without depth there is no pointmap; the model was trained with pointmaps present.
|
| 109 |
+
* The 32-D / 17-D head layout is a pretraining convenience. Fine-tune before use on any
|
| 110 |
+
robot; the released fine-tunes target simulation benchmarks only.
|
| 111 |
+
* This checkpoint is **not a servable policy**: the evaluation server needs the
|
| 112 |
+
fine-tuning data registry to un-normalise actions, and the pretraining embodiments
|
| 113 |
+
(`interndata_m1`, `droid` in `dataset_statistics.json`) are not part of this release.
|
| 114 |
+
Use it only as `trainer.pretrained_checkpoint`.
|
| 115 |
+
* Not validated on physical robots in this release. Actions are predicted in normalised
|
| 116 |
+
space and must be un-normalised with statistics of the fine-tuning data.
|
| 117 |
+
|
| 118 |
+
## License
|
| 119 |
+
|
| 120 |
+
MIT (code and weights of this release). Weights are derived from Qwen3.5-4B, distributed
|
| 121 |
+
under the Apache License 2.0. See `NOTICE` in the repository.
|
| 122 |
+
|
| 123 |
+
## Citation
|
| 124 |
+
|
| 125 |
+
Author names are withheld while the paper is under double-blind review and will be added
|
| 126 |
+
at camera-ready.
|
| 127 |
+
|
| 128 |
+
```bibtex
|
| 129 |
+
@article{pointmapvla2026,
|
| 130 |
+
title = {PointmapVLA: Aligning 3D Perception with Action for Vision-Language-Action Models},
|
| 131 |
+
author = {PointmapVLA authors},
|
| 132 |
+
year = {2026},
|
| 133 |
+
note = {Under review},
|
| 134 |
+
url = {https://github.com/DAVIAN-Robotics/PointmapVLA}
|
| 135 |
+
}
|
| 136 |
+
```
|
base_vlm/added_custom_token_id_map.json
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|
| 1 |
+
{
|
| 2 |
+
"<robot_action_0>": 248077,
|
| 3 |
+
"<robot_action_1>": 248078,
|
| 4 |
+
"<robot_action_2>": 248079,
|
| 5 |
+
"<robot_action_3>": 248080,
|
| 6 |
+
"<robot_action_4>": 248081,
|
| 7 |
+
"<robot_action_5>": 248082,
|
| 8 |
+
"<robot_action_6>": 248083,
|
| 9 |
+
"<robot_action_7>": 248084,
|
| 10 |
+
"<robot_action_8>": 248085,
|
| 11 |
+
"<robot_action_9>": 248086,
|
| 12 |
+
"<robot_action_10>": 248087,
|
| 13 |
+
"<robot_action_11>": 248088,
|
| 14 |
+
"<robot_action_12>": 248089,
|
| 15 |
+
"<robot_action_13>": 248090,
|
| 16 |
+
"<robot_action_14>": 248091,
|
| 17 |
+
"<robot_action_15>": 248092,
|
| 18 |
+
"<robot_action_16>": 248093,
|
| 19 |
+
"<robot_action_17>": 248094,
|
| 20 |
+
"<robot_action_18>": 248095,
|
| 21 |
+
"<robot_action_19>": 248096,
|
| 22 |
+
"<robot_action_20>": 248097,
|
| 23 |
+
"<robot_action_21>": 248098,
|
| 24 |
+
"<robot_action_22>": 248099,
|
| 25 |
+
"<robot_action_23>": 248100,
|
| 26 |
+
"<robot_action_24>": 248101,
|
| 27 |
+
"<robot_action_25>": 248102,
|
| 28 |
+
"<robot_action_26>": 248103,
|
| 29 |
+
"<robot_action_27>": 248104,
|
| 30 |
+
"<robot_action_28>": 248105,
|
| 31 |
+
"<robot_action_29>": 248106,
|
| 32 |
+
"<robot_action_30>": 248107,
|
| 33 |
+
"<robot_action_31>": 248108,
|
| 34 |
+
"<robot_action_32>": 248109,
|
| 35 |
+
"<robot_action_33>": 248110,
|
| 36 |
+
"<robot_action_34>": 248111,
|
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+
"<robot_action_1808>": 249885,
|
| 1811 |
+
"<robot_action_1809>": 249886,
|
| 1812 |
+
"<robot_action_1810>": 249887,
|
| 1813 |
+
"<robot_action_1811>": 249888,
|
| 1814 |
+
"<robot_action_1812>": 249889,
|
| 1815 |
+
"<robot_action_1813>": 249890,
|
| 1816 |
+
"<robot_action_1814>": 249891,
|
| 1817 |
+
"<robot_action_1815>": 249892,
|
| 1818 |
+
"<robot_action_1816>": 249893,
|
| 1819 |
+
"<robot_action_1817>": 249894,
|
| 1820 |
+
"<robot_action_1818>": 249895,
|
| 1821 |
+
"<robot_action_1819>": 249896,
|
| 1822 |
+
"<robot_action_1820>": 249897,
|
| 1823 |
+
"<robot_action_1821>": 249898,
|
| 1824 |
+
"<robot_action_1822>": 249899,
|
| 1825 |
+
"<robot_action_1823>": 249900,
|
| 1826 |
+
"<robot_action_1824>": 249901,
|
| 1827 |
+
"<robot_action_1825>": 249902,
|
| 1828 |
+
"<robot_action_1826>": 249903,
|
| 1829 |
+
"<robot_action_1827>": 249904,
|
| 1830 |
+
"<robot_action_1828>": 249905,
|
| 1831 |
+
"<robot_action_1829>": 249906,
|
| 1832 |
+
"<robot_action_1830>": 249907,
|
| 1833 |
+
"<robot_action_1831>": 249908,
|
| 1834 |
+
"<robot_action_1832>": 249909,
|
| 1835 |
+
"<robot_action_1833>": 249910,
|
| 1836 |
+
"<robot_action_1834>": 249911,
|
| 1837 |
+
"<robot_action_1835>": 249912,
|
| 1838 |
+
"<robot_action_1836>": 249913,
|
| 1839 |
+
"<robot_action_1837>": 249914,
|
| 1840 |
+
"<robot_action_1838>": 249915,
|
| 1841 |
+
"<robot_action_1839>": 249916,
|
| 1842 |
+
"<robot_action_1840>": 249917,
|
| 1843 |
+
"<robot_action_1841>": 249918,
|
| 1844 |
+
"<robot_action_1842>": 249919,
|
| 1845 |
+
"<robot_action_1843>": 249920,
|
| 1846 |
+
"<robot_action_1844>": 249921,
|
| 1847 |
+
"<robot_action_1845>": 249922,
|
| 1848 |
+
"<robot_action_1846>": 249923,
|
| 1849 |
+
"<robot_action_1847>": 249924,
|
| 1850 |
+
"<robot_action_1848>": 249925,
|
| 1851 |
+
"<robot_action_1849>": 249926,
|
| 1852 |
+
"<robot_action_1850>": 249927,
|
| 1853 |
+
"<robot_action_1851>": 249928,
|
| 1854 |
+
"<robot_action_1852>": 249929,
|
| 1855 |
+
"<robot_action_1853>": 249930,
|
| 1856 |
+
"<robot_action_1854>": 249931,
|
| 1857 |
+
"<robot_action_1855>": 249932,
|
| 1858 |
+
"<robot_action_1856>": 249933,
|
| 1859 |
+
"<robot_action_1857>": 249934,
|
| 1860 |
+
"<robot_action_1858>": 249935,
|
| 1861 |
+
"<robot_action_1859>": 249936,
|
| 1862 |
+
"<robot_action_1860>": 249937,
|
| 1863 |
+
"<robot_action_1861>": 249938,
|
| 1864 |
+
"<robot_action_1862>": 249939,
|
| 1865 |
+
"<robot_action_1863>": 249940,
|
| 1866 |
+
"<robot_action_1864>": 249941,
|
| 1867 |
+
"<robot_action_1865>": 249942,
|
| 1868 |
+
"<robot_action_1866>": 249943,
|
| 1869 |
+
"<robot_action_1867>": 249944,
|
| 1870 |
+
"<robot_action_1868>": 249945,
|
| 1871 |
+
"<robot_action_1869>": 249946,
|
| 1872 |
+
"<robot_action_1870>": 249947,
|
| 1873 |
+
"<robot_action_1871>": 249948,
|
| 1874 |
+
"<robot_action_1872>": 249949,
|
| 1875 |
+
"<robot_action_1873>": 249950,
|
| 1876 |
+
"<robot_action_1874>": 249951,
|
| 1877 |
+
"<robot_action_1875>": 249952,
|
| 1878 |
+
"<robot_action_1876>": 249953,
|
| 1879 |
+
"<robot_action_1877>": 249954,
|
| 1880 |
+
"<robot_action_1878>": 249955,
|
| 1881 |
+
"<robot_action_1879>": 249956,
|
| 1882 |
+
"<robot_action_1880>": 249957,
|
| 1883 |
+
"<robot_action_1881>": 249958,
|
| 1884 |
+
"<robot_action_1882>": 249959,
|
| 1885 |
+
"<robot_action_1883>": 249960,
|
| 1886 |
+
"<robot_action_1884>": 249961,
|
| 1887 |
+
"<robot_action_1885>": 249962,
|
| 1888 |
+
"<robot_action_1886>": 249963,
|
| 1889 |
+
"<robot_action_1887>": 249964,
|
| 1890 |
+
"<robot_action_1888>": 249965,
|
| 1891 |
+
"<robot_action_1889>": 249966,
|
| 1892 |
+
"<robot_action_1890>": 249967,
|
| 1893 |
+
"<robot_action_1891>": 249968,
|
| 1894 |
+
"<robot_action_1892>": 249969,
|
| 1895 |
+
"<robot_action_1893>": 249970,
|
| 1896 |
+
"<robot_action_1894>": 249971,
|
| 1897 |
+
"<robot_action_1895>": 249972,
|
| 1898 |
+
"<robot_action_1896>": 249973,
|
| 1899 |
+
"<robot_action_1897>": 249974,
|
| 1900 |
+
"<robot_action_1898>": 249975,
|
| 1901 |
+
"<robot_action_1899>": 249976,
|
| 1902 |
+
"<robot_action_1900>": 249977,
|
| 1903 |
+
"<robot_action_1901>": 249978,
|
| 1904 |
+
"<robot_action_1902>": 249979,
|
| 1905 |
+
"<robot_action_1903>": 249980,
|
| 1906 |
+
"<robot_action_1904>": 249981,
|
| 1907 |
+
"<robot_action_1905>": 249982,
|
| 1908 |
+
"<robot_action_1906>": 249983,
|
| 1909 |
+
"<robot_action_1907>": 249984,
|
| 1910 |
+
"<robot_action_1908>": 249985,
|
| 1911 |
+
"<robot_action_1909>": 249986,
|
| 1912 |
+
"<robot_action_1910>": 249987,
|
| 1913 |
+
"<robot_action_1911>": 249988,
|
| 1914 |
+
"<robot_action_1912>": 249989,
|
| 1915 |
+
"<robot_action_1913>": 249990,
|
| 1916 |
+
"<robot_action_1914>": 249991,
|
| 1917 |
+
"<robot_action_1915>": 249992,
|
| 1918 |
+
"<robot_action_1916>": 249993,
|
| 1919 |
+
"<robot_action_1917>": 249994,
|
| 1920 |
+
"<robot_action_1918>": 249995,
|
| 1921 |
+
"<robot_action_1919>": 249996,
|
| 1922 |
+
"<robot_action_1920>": 249997,
|
| 1923 |
+
"<robot_action_1921>": 249998,
|
| 1924 |
+
"<robot_action_1922>": 249999,
|
| 1925 |
+
"<robot_action_1923>": 250000,
|
| 1926 |
+
"<robot_action_1924>": 250001,
|
| 1927 |
+
"<robot_action_1925>": 250002,
|
| 1928 |
+
"<robot_action_1926>": 250003,
|
| 1929 |
+
"<robot_action_1927>": 250004,
|
| 1930 |
+
"<robot_action_1928>": 250005,
|
| 1931 |
+
"<robot_action_1929>": 250006,
|
| 1932 |
+
"<robot_action_1930>": 250007,
|
| 1933 |
+
"<robot_action_1931>": 250008,
|
| 1934 |
+
"<robot_action_1932>": 250009,
|
| 1935 |
+
"<robot_action_1933>": 250010,
|
| 1936 |
+
"<robot_action_1934>": 250011,
|
| 1937 |
+
"<robot_action_1935>": 250012,
|
| 1938 |
+
"<robot_action_1936>": 250013,
|
| 1939 |
+
"<robot_action_1937>": 250014,
|
| 1940 |
+
"<robot_action_1938>": 250015,
|
| 1941 |
+
"<robot_action_1939>": 250016,
|
| 1942 |
+
"<robot_action_1940>": 250017,
|
| 1943 |
+
"<robot_action_1941>": 250018,
|
| 1944 |
+
"<robot_action_1942>": 250019,
|
| 1945 |
+
"<robot_action_1943>": 250020,
|
| 1946 |
+
"<robot_action_1944>": 250021,
|
| 1947 |
+
"<robot_action_1945>": 250022,
|
| 1948 |
+
"<robot_action_1946>": 250023,
|
| 1949 |
+
"<robot_action_1947>": 250024,
|
| 1950 |
+
"<robot_action_1948>": 250025,
|
| 1951 |
+
"<robot_action_1949>": 250026,
|
| 1952 |
+
"<robot_action_1950>": 250027,
|
| 1953 |
+
"<robot_action_1951>": 250028,
|
| 1954 |
+
"<robot_action_1952>": 250029,
|
| 1955 |
+
"<robot_action_1953>": 250030,
|
| 1956 |
+
"<robot_action_1954>": 250031,
|
| 1957 |
+
"<robot_action_1955>": 250032,
|
| 1958 |
+
"<robot_action_1956>": 250033,
|
| 1959 |
+
"<robot_action_1957>": 250034,
|
| 1960 |
+
"<robot_action_1958>": 250035,
|
| 1961 |
+
"<robot_action_1959>": 250036,
|
| 1962 |
+
"<robot_action_1960>": 250037,
|
| 1963 |
+
"<robot_action_1961>": 250038,
|
| 1964 |
+
"<robot_action_1962>": 250039,
|
| 1965 |
+
"<robot_action_1963>": 250040,
|
| 1966 |
+
"<robot_action_1964>": 250041,
|
| 1967 |
+
"<robot_action_1965>": 250042,
|
| 1968 |
+
"<robot_action_1966>": 250043,
|
| 1969 |
+
"<robot_action_1967>": 250044,
|
| 1970 |
+
"<robot_action_1968>": 250045,
|
| 1971 |
+
"<robot_action_1969>": 250046,
|
| 1972 |
+
"<robot_action_1970>": 250047,
|
| 1973 |
+
"<robot_action_1971>": 250048,
|
| 1974 |
+
"<robot_action_1972>": 250049,
|
| 1975 |
+
"<robot_action_1973>": 250050,
|
| 1976 |
+
"<robot_action_1974>": 250051,
|
| 1977 |
+
"<robot_action_1975>": 250052,
|
| 1978 |
+
"<robot_action_1976>": 250053,
|
| 1979 |
+
"<robot_action_1977>": 250054,
|
| 1980 |
+
"<robot_action_1978>": 250055,
|
| 1981 |
+
"<robot_action_1979>": 250056,
|
| 1982 |
+
"<robot_action_1980>": 250057,
|
| 1983 |
+
"<robot_action_1981>": 250058,
|
| 1984 |
+
"<robot_action_1982>": 250059,
|
| 1985 |
+
"<robot_action_1983>": 250060,
|
| 1986 |
+
"<robot_action_1984>": 250061,
|
| 1987 |
+
"<robot_action_1985>": 250062,
|
| 1988 |
+
"<robot_action_1986>": 250063,
|
| 1989 |
+
"<robot_action_1987>": 250064,
|
| 1990 |
+
"<robot_action_1988>": 250065,
|
| 1991 |
+
"<robot_action_1989>": 250066,
|
| 1992 |
+
"<robot_action_1990>": 250067,
|
| 1993 |
+
"<robot_action_1991>": 250068,
|
| 1994 |
+
"<robot_action_1992>": 250069,
|
| 1995 |
+
"<robot_action_1993>": 250070,
|
| 1996 |
+
"<robot_action_1994>": 250071,
|
| 1997 |
+
"<robot_action_1995>": 250072,
|
| 1998 |
+
"<robot_action_1996>": 250073,
|
| 1999 |
+
"<robot_action_1997>": 250074,
|
| 2000 |
+
"<robot_action_1998>": 250075,
|
| 2001 |
+
"<robot_action_1999>": 250076,
|
| 2002 |
+
"<robot_action_2000>": 250077,
|
| 2003 |
+
"<robot_action_2001>": 250078,
|
| 2004 |
+
"<robot_action_2002>": 250079,
|
| 2005 |
+
"<robot_action_2003>": 250080,
|
| 2006 |
+
"<robot_action_2004>": 250081,
|
| 2007 |
+
"<robot_action_2005>": 250082,
|
| 2008 |
+
"<robot_action_2006>": 250083,
|
| 2009 |
+
"<robot_action_2007>": 250084,
|
| 2010 |
+
"<robot_action_2008>": 250085,
|
| 2011 |
+
"<robot_action_2009>": 250086,
|
| 2012 |
+
"<robot_action_2010>": 250087,
|
| 2013 |
+
"<robot_action_2011>": 250088,
|
| 2014 |
+
"<robot_action_2012>": 250089,
|
| 2015 |
+
"<robot_action_2013>": 250090,
|
| 2016 |
+
"<robot_action_2014>": 250091,
|
| 2017 |
+
"<robot_action_2015>": 250092,
|
| 2018 |
+
"<robot_action_2016>": 250093,
|
| 2019 |
+
"<robot_action_2017>": 250094,
|
| 2020 |
+
"<robot_action_2018>": 250095,
|
| 2021 |
+
"<robot_action_2019>": 250096,
|
| 2022 |
+
"<robot_action_2020>": 250097,
|
| 2023 |
+
"<robot_action_2021>": 250098,
|
| 2024 |
+
"<robot_action_2022>": 250099,
|
| 2025 |
+
"<robot_action_2023>": 250100,
|
| 2026 |
+
"<robot_action_2024>": 250101,
|
| 2027 |
+
"<robot_action_2025>": 250102,
|
| 2028 |
+
"<robot_action_2026>": 250103,
|
| 2029 |
+
"<robot_action_2027>": 250104,
|
| 2030 |
+
"<robot_action_2028>": 250105,
|
| 2031 |
+
"<robot_action_2029>": 250106,
|
| 2032 |
+
"<robot_action_2030>": 250107,
|
| 2033 |
+
"<robot_action_2031>": 250108,
|
| 2034 |
+
"<robot_action_2032>": 250109,
|
| 2035 |
+
"<robot_action_2033>": 250110,
|
| 2036 |
+
"<robot_action_2034>": 250111,
|
| 2037 |
+
"<robot_action_2035>": 250112,
|
| 2038 |
+
"<robot_action_2036>": 250113,
|
| 2039 |
+
"<robot_action_2037>": 250114,
|
| 2040 |
+
"<robot_action_2038>": 250115,
|
| 2041 |
+
"<robot_action_2039>": 250116,
|
| 2042 |
+
"<robot_action_2040>": 250117,
|
| 2043 |
+
"<robot_action_2041>": 250118,
|
| 2044 |
+
"<robot_action_2042>": 250119,
|
| 2045 |
+
"<robot_action_2043>": 250120,
|
| 2046 |
+
"<robot_action_2044>": 250121,
|
| 2047 |
+
"<robot_action_2045>": 250122,
|
| 2048 |
+
"<robot_action_2046>": 250123,
|
| 2049 |
+
"<robot_action_2047>": 250124
|
| 2050 |
+
}
|
base_vlm/chat_template.jinja
ADDED
|
@@ -0,0 +1,154 @@
|
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|
|
|
| 1 |
+
{%- set image_count = namespace(value=0) %}
|
| 2 |
+
{%- set video_count = namespace(value=0) %}
|
| 3 |
+
{%- macro render_content(content, do_vision_count, is_system_content=false) %}
|
| 4 |
+
{%- if content is string %}
|
| 5 |
+
{{- content }}
|
| 6 |
+
{%- elif content is iterable and content is not mapping %}
|
| 7 |
+
{%- for item in content %}
|
| 8 |
+
{%- if 'image' in item or 'image_url' in item or item.type == 'image' %}
|
| 9 |
+
{%- if is_system_content %}
|
| 10 |
+
{{- raise_exception('System message cannot contain images.') }}
|
| 11 |
+
{%- endif %}
|
| 12 |
+
{%- if do_vision_count %}
|
| 13 |
+
{%- set image_count.value = image_count.value + 1 %}
|
| 14 |
+
{%- endif %}
|
| 15 |
+
{%- if add_vision_id %}
|
| 16 |
+
{{- 'Picture ' ~ image_count.value ~ ': ' }}
|
| 17 |
+
{%- endif %}
|
| 18 |
+
{{- '<|vision_start|><|image_pad|><|vision_end|>' }}
|
| 19 |
+
{%- elif 'video' in item or item.type == 'video' %}
|
| 20 |
+
{%- if is_system_content %}
|
| 21 |
+
{{- raise_exception('System message cannot contain videos.') }}
|
| 22 |
+
{%- endif %}
|
| 23 |
+
{%- if do_vision_count %}
|
| 24 |
+
{%- set video_count.value = video_count.value + 1 %}
|
| 25 |
+
{%- endif %}
|
| 26 |
+
{%- if add_vision_id %}
|
| 27 |
+
{{- 'Video ' ~ video_count.value ~ ': ' }}
|
| 28 |
+
{%- endif %}
|
| 29 |
+
{{- '<|vision_start|><|video_pad|><|vision_end|>' }}
|
| 30 |
+
{%- elif 'text' in item %}
|
| 31 |
+
{{- item.text }}
|
| 32 |
+
{%- else %}
|
| 33 |
+
{{- raise_exception('Unexpected item type in content.') }}
|
| 34 |
+
{%- endif %}
|
| 35 |
+
{%- endfor %}
|
| 36 |
+
{%- elif content is none or content is undefined %}
|
| 37 |
+
{{- '' }}
|
| 38 |
+
{%- else %}
|
| 39 |
+
{{- raise_exception('Unexpected content type.') }}
|
| 40 |
+
{%- endif %}
|
| 41 |
+
{%- endmacro %}
|
| 42 |
+
{%- if not messages %}
|
| 43 |
+
{{- raise_exception('No messages provided.') }}
|
| 44 |
+
{%- endif %}
|
| 45 |
+
{%- if tools and tools is iterable and tools is not mapping %}
|
| 46 |
+
{{- '<|im_start|>system\n' }}
|
| 47 |
+
{{- "# Tools\n\nYou have access to the following functions:\n\n<tools>" }}
|
| 48 |
+
{%- for tool in tools %}
|
| 49 |
+
{{- "\n" }}
|
| 50 |
+
{{- tool | tojson }}
|
| 51 |
+
{%- endfor %}
|
| 52 |
+
{{- "\n</tools>" }}
|
| 53 |
+
{{- '\n\nIf you choose to call a function ONLY reply in the following format with NO suffix:\n\n<tool_call>\n<function=example_function_name>\n<parameter=example_parameter_1>\nvalue_1\n</parameter>\n<parameter=example_parameter_2>\nThis is the value for the second parameter\nthat can span\nmultiple lines\n</parameter>\n</function>\n</tool_call>\n\n<IMPORTANT>\nReminder:\n- Function calls MUST follow the specified format: an inner <function=...></function> block must be nested within <tool_call></tool_call> XML tags\n- Required parameters MUST be specified\n- You may provide optional reasoning for your function call in natural language BEFORE the function call, but NOT after\n- If there is no function call available, answer the question like normal with your current knowledge and do not tell the user about function calls\n</IMPORTANT>' }}
|
| 54 |
+
{%- if messages[0].role == 'system' %}
|
| 55 |
+
{%- set content = render_content(messages[0].content, false, true)|trim %}
|
| 56 |
+
{%- if content %}
|
| 57 |
+
{{- '\n\n' + content }}
|
| 58 |
+
{%- endif %}
|
| 59 |
+
{%- endif %}
|
| 60 |
+
{{- '<|im_end|>\n' }}
|
| 61 |
+
{%- else %}
|
| 62 |
+
{%- if messages[0].role == 'system' %}
|
| 63 |
+
{%- set content = render_content(messages[0].content, false, true)|trim %}
|
| 64 |
+
{{- '<|im_start|>system\n' + content + '<|im_end|>\n' }}
|
| 65 |
+
{%- endif %}
|
| 66 |
+
{%- endif %}
|
| 67 |
+
{%- set ns = namespace(multi_step_tool=true, last_query_index=messages|length - 1) %}
|
| 68 |
+
{%- for message in messages[::-1] %}
|
| 69 |
+
{%- set index = (messages|length - 1) - loop.index0 %}
|
| 70 |
+
{%- if ns.multi_step_tool and message.role == "user" %}
|
| 71 |
+
{%- set content = render_content(message.content, false)|trim %}
|
| 72 |
+
{%- if not(content.startswith('<tool_response>') and content.endswith('</tool_response>')) %}
|
| 73 |
+
{%- set ns.multi_step_tool = false %}
|
| 74 |
+
{%- set ns.last_query_index = index %}
|
| 75 |
+
{%- endif %}
|
| 76 |
+
{%- endif %}
|
| 77 |
+
{%- endfor %}
|
| 78 |
+
{%- if ns.multi_step_tool %}
|
| 79 |
+
{{- raise_exception('No user query found in messages.') }}
|
| 80 |
+
{%- endif %}
|
| 81 |
+
{%- for message in messages %}
|
| 82 |
+
{%- set content = render_content(message.content, true)|trim %}
|
| 83 |
+
{%- if message.role == "system" %}
|
| 84 |
+
{%- if not loop.first %}
|
| 85 |
+
{{- raise_exception('System message must be at the beginning.') }}
|
| 86 |
+
{%- endif %}
|
| 87 |
+
{%- elif message.role == "user" %}
|
| 88 |
+
{{- '<|im_start|>' + message.role + '\n' + content + '<|im_end|>' + '\n' }}
|
| 89 |
+
{%- elif message.role == "assistant" %}
|
| 90 |
+
{%- set reasoning_content = '' %}
|
| 91 |
+
{%- if message.reasoning_content is string %}
|
| 92 |
+
{%- set reasoning_content = message.reasoning_content %}
|
| 93 |
+
{%- else %}
|
| 94 |
+
{%- if '</think>' in content %}
|
| 95 |
+
{%- set reasoning_content = content.split('</think>')[0].rstrip('\n').split('<think>')[-1].lstrip('\n') %}
|
| 96 |
+
{%- set content = content.split('</think>')[-1].lstrip('\n') %}
|
| 97 |
+
{%- endif %}
|
| 98 |
+
{%- endif %}
|
| 99 |
+
{%- set reasoning_content = reasoning_content|trim %}
|
| 100 |
+
{%- if loop.index0 > ns.last_query_index %}
|
| 101 |
+
{{- '<|im_start|>' + message.role + '\n<think>\n' + reasoning_content + '\n</think>\n\n' + content }}
|
| 102 |
+
{%- else %}
|
| 103 |
+
{{- '<|im_start|>' + message.role + '\n' + content }}
|
| 104 |
+
{%- endif %}
|
| 105 |
+
{%- if message.tool_calls and message.tool_calls is iterable and message.tool_calls is not mapping %}
|
| 106 |
+
{%- for tool_call in message.tool_calls %}
|
| 107 |
+
{%- if tool_call.function is defined %}
|
| 108 |
+
{%- set tool_call = tool_call.function %}
|
| 109 |
+
{%- endif %}
|
| 110 |
+
{%- if loop.first %}
|
| 111 |
+
{%- if content|trim %}
|
| 112 |
+
{{- '\n\n<tool_call>\n<function=' + tool_call.name + '>\n' }}
|
| 113 |
+
{%- else %}
|
| 114 |
+
{{- '<tool_call>\n<function=' + tool_call.name + '>\n' }}
|
| 115 |
+
{%- endif %}
|
| 116 |
+
{%- else %}
|
| 117 |
+
{{- '\n<tool_call>\n<function=' + tool_call.name + '>\n' }}
|
| 118 |
+
{%- endif %}
|
| 119 |
+
{%- if tool_call.arguments is defined %}
|
| 120 |
+
{%- for args_name, args_value in tool_call.arguments|items %}
|
| 121 |
+
{{- '<parameter=' + args_name + '>\n' }}
|
| 122 |
+
{%- set args_value = args_value | tojson | safe if args_value is mapping or (args_value is sequence and args_value is not string) else args_value | string %}
|
| 123 |
+
{{- args_value }}
|
| 124 |
+
{{- '\n</parameter>\n' }}
|
| 125 |
+
{%- endfor %}
|
| 126 |
+
{%- endif %}
|
| 127 |
+
{{- '</function>\n</tool_call>' }}
|
| 128 |
+
{%- endfor %}
|
| 129 |
+
{%- endif %}
|
| 130 |
+
{{- '<|im_end|>\n' }}
|
| 131 |
+
{%- elif message.role == "tool" %}
|
| 132 |
+
{%- if loop.previtem and loop.previtem.role != "tool" %}
|
| 133 |
+
{{- '<|im_start|>user' }}
|
| 134 |
+
{%- endif %}
|
| 135 |
+
{{- '\n<tool_response>\n' }}
|
| 136 |
+
{{- content }}
|
| 137 |
+
{{- '\n</tool_response>' }}
|
| 138 |
+
{%- if not loop.last and loop.nextitem.role != "tool" %}
|
| 139 |
+
{{- '<|im_end|>\n' }}
|
| 140 |
+
{%- elif loop.last %}
|
| 141 |
+
{{- '<|im_end|>\n' }}
|
| 142 |
+
{%- endif %}
|
| 143 |
+
{%- else %}
|
| 144 |
+
{{- raise_exception('Unexpected message role.') }}
|
| 145 |
+
{%- endif %}
|
| 146 |
+
{%- endfor %}
|
| 147 |
+
{%- if add_generation_prompt %}
|
| 148 |
+
{{- '<|im_start|>assistant\n' }}
|
| 149 |
+
{%- if enable_thinking is defined and enable_thinking is false %}
|
| 150 |
+
{{- '<think>\n\n</think>\n\n' }}
|
| 151 |
+
{%- else %}
|
| 152 |
+
{{- '<think>\n' }}
|
| 153 |
+
{%- endif %}
|
| 154 |
+
{%- endif %}
|
base_vlm/config.json
ADDED
|
@@ -0,0 +1,113 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"architectures": [
|
| 3 |
+
"Qwen3_5ForConditionalGeneration"
|
| 4 |
+
],
|
| 5 |
+
"dtype": "bfloat16",
|
| 6 |
+
"image_token_id": 248056,
|
| 7 |
+
"model_type": "qwen3_5",
|
| 8 |
+
"text_config": {
|
| 9 |
+
"attention_bias": false,
|
| 10 |
+
"attention_dropout": 0.0,
|
| 11 |
+
"attn_output_gate": true,
|
| 12 |
+
"bos_token_id": null,
|
| 13 |
+
"dtype": "bfloat16",
|
| 14 |
+
"eos_token_id": 248044,
|
| 15 |
+
"full_attention_interval": 4,
|
| 16 |
+
"head_dim": 256,
|
| 17 |
+
"hidden_act": "silu",
|
| 18 |
+
"hidden_size": 2560,
|
| 19 |
+
"initializer_range": 0.02,
|
| 20 |
+
"intermediate_size": 9216,
|
| 21 |
+
"layer_types": [
|
| 22 |
+
"linear_attention",
|
| 23 |
+
"linear_attention",
|
| 24 |
+
"linear_attention",
|
| 25 |
+
"full_attention",
|
| 26 |
+
"linear_attention",
|
| 27 |
+
"linear_attention",
|
| 28 |
+
"linear_attention",
|
| 29 |
+
"full_attention",
|
| 30 |
+
"linear_attention",
|
| 31 |
+
"linear_attention",
|
| 32 |
+
"linear_attention",
|
| 33 |
+
"full_attention",
|
| 34 |
+
"linear_attention",
|
| 35 |
+
"linear_attention",
|
| 36 |
+
"linear_attention",
|
| 37 |
+
"full_attention",
|
| 38 |
+
"linear_attention",
|
| 39 |
+
"linear_attention",
|
| 40 |
+
"linear_attention",
|
| 41 |
+
"full_attention",
|
| 42 |
+
"linear_attention",
|
| 43 |
+
"linear_attention",
|
| 44 |
+
"linear_attention",
|
| 45 |
+
"full_attention",
|
| 46 |
+
"linear_attention",
|
| 47 |
+
"linear_attention",
|
| 48 |
+
"linear_attention",
|
| 49 |
+
"full_attention",
|
| 50 |
+
"linear_attention",
|
| 51 |
+
"linear_attention",
|
| 52 |
+
"linear_attention",
|
| 53 |
+
"full_attention"
|
| 54 |
+
],
|
| 55 |
+
"linear_conv_kernel_dim": 4,
|
| 56 |
+
"linear_key_head_dim": 128,
|
| 57 |
+
"linear_num_key_heads": 16,
|
| 58 |
+
"linear_num_value_heads": 32,
|
| 59 |
+
"linear_value_head_dim": 128,
|
| 60 |
+
"mamba_ssm_dtype": "float32",
|
| 61 |
+
"max_position_embeddings": 262144,
|
| 62 |
+
"mlp_only_layers": [],
|
| 63 |
+
"model_type": "qwen3_5_text",
|
| 64 |
+
"mtp_num_hidden_layers": 1,
|
| 65 |
+
"mtp_use_dedicated_embeddings": false,
|
| 66 |
+
"num_attention_heads": 16,
|
| 67 |
+
"num_hidden_layers": 32,
|
| 68 |
+
"num_key_value_heads": 4,
|
| 69 |
+
"pad_token_id": null,
|
| 70 |
+
"partial_rotary_factor": 0.25,
|
| 71 |
+
"rms_norm_eps": 1e-06,
|
| 72 |
+
"rope_parameters": {
|
| 73 |
+
"mrope_interleaved": true,
|
| 74 |
+
"mrope_section": [
|
| 75 |
+
11,
|
| 76 |
+
11,
|
| 77 |
+
10
|
| 78 |
+
],
|
| 79 |
+
"partial_rotary_factor": 0.25,
|
| 80 |
+
"rope_theta": 10000000,
|
| 81 |
+
"rope_type": "default"
|
| 82 |
+
},
|
| 83 |
+
"tie_word_embeddings": true,
|
| 84 |
+
"use_cache": true,
|
| 85 |
+
"vocab_size": 250368
|
| 86 |
+
},
|
| 87 |
+
"tie_word_embeddings": true,
|
| 88 |
+
"transformers_version": "5.3.0",
|
| 89 |
+
"video_token_id": 248057,
|
| 90 |
+
"vision_config": {
|
| 91 |
+
"deepstack_visual_indexes": [],
|
| 92 |
+
"depth": 24,
|
| 93 |
+
"dtype": "bfloat16",
|
| 94 |
+
"hidden_act": "gelu_pytorch_tanh",
|
| 95 |
+
"hidden_size": 1024,
|
| 96 |
+
"in_channels": 3,
|
| 97 |
+
"initializer_range": 0.02,
|
| 98 |
+
"intermediate_size": 4096,
|
| 99 |
+
"model_type": "qwen3_5",
|
| 100 |
+
"num_heads": 16,
|
| 101 |
+
"num_position_embeddings": 2304,
|
| 102 |
+
"out_hidden_size": 2560,
|
| 103 |
+
"patch_size": 16,
|
| 104 |
+
"spatial_merge_size": 2,
|
| 105 |
+
"temporal_patch_size": 2
|
| 106 |
+
},
|
| 107 |
+
"vision_end_token_id": 248054,
|
| 108 |
+
"vision_start_token_id": 248053,
|
| 109 |
+
"pointmapvla_action_token_range": [
|
| 110 |
+
248077,
|
| 111 |
+
250124
|
| 112 |
+
]
|
| 113 |
+
}
|
base_vlm/generation_config.json
ADDED
|
@@ -0,0 +1,6 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"_from_model_config": true,
|
| 3 |
+
"eos_token_id": 248044,
|
| 4 |
+
"transformers_version": "5.3.0",
|
| 5 |
+
"use_cache": true
|
| 6 |
+
}
|
base_vlm/processor_config.json
ADDED
|
@@ -0,0 +1,63 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"image_processor": {
|
| 3 |
+
"data_format": "channels_first",
|
| 4 |
+
"do_convert_rgb": true,
|
| 5 |
+
"do_normalize": true,
|
| 6 |
+
"do_rescale": true,
|
| 7 |
+
"do_resize": true,
|
| 8 |
+
"image_mean": [
|
| 9 |
+
0.5,
|
| 10 |
+
0.5,
|
| 11 |
+
0.5
|
| 12 |
+
],
|
| 13 |
+
"image_processor_type": "Qwen2VLImageProcessorFast",
|
| 14 |
+
"image_std": [
|
| 15 |
+
0.5,
|
| 16 |
+
0.5,
|
| 17 |
+
0.5
|
| 18 |
+
],
|
| 19 |
+
"merge_size": 2,
|
| 20 |
+
"patch_size": 16,
|
| 21 |
+
"resample": 3,
|
| 22 |
+
"rescale_factor": 0.00392156862745098,
|
| 23 |
+
"size": {
|
| 24 |
+
"longest_edge": 16777216,
|
| 25 |
+
"shortest_edge": 65536
|
| 26 |
+
},
|
| 27 |
+
"temporal_patch_size": 2
|
| 28 |
+
},
|
| 29 |
+
"processor_class": "Qwen3VLProcessor",
|
| 30 |
+
"video_processor": {
|
| 31 |
+
"data_format": "channels_first",
|
| 32 |
+
"default_to_square": true,
|
| 33 |
+
"do_convert_rgb": true,
|
| 34 |
+
"do_normalize": true,
|
| 35 |
+
"do_rescale": true,
|
| 36 |
+
"do_resize": true,
|
| 37 |
+
"do_sample_frames": true,
|
| 38 |
+
"fps": 2,
|
| 39 |
+
"image_mean": [
|
| 40 |
+
0.5,
|
| 41 |
+
0.5,
|
| 42 |
+
0.5
|
| 43 |
+
],
|
| 44 |
+
"image_std": [
|
| 45 |
+
0.5,
|
| 46 |
+
0.5,
|
| 47 |
+
0.5
|
| 48 |
+
],
|
| 49 |
+
"max_frames": 768,
|
| 50 |
+
"merge_size": 2,
|
| 51 |
+
"min_frames": 4,
|
| 52 |
+
"patch_size": 16,
|
| 53 |
+
"resample": 3,
|
| 54 |
+
"rescale_factor": 0.00392156862745098,
|
| 55 |
+
"return_metadata": false,
|
| 56 |
+
"size": {
|
| 57 |
+
"longest_edge": 25165824,
|
| 58 |
+
"shortest_edge": 4096
|
| 59 |
+
},
|
| 60 |
+
"temporal_patch_size": 2,
|
| 61 |
+
"video_processor_type": "Qwen3VLVideoProcessor"
|
| 62 |
+
}
|
| 63 |
+
}
|
base_vlm/tokenizer.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0ece0dc37e2fc2021f1d7a2e51fd3b1102f4bc6b11c7f3c4eeb7c60a0bfe1962
|
| 3 |
+
size 20389641
|
base_vlm/tokenizer_config.json
ADDED
|
@@ -0,0 +1,2082 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"add_prefix_space": false,
|
| 3 |
+
"audio_bos_token": "<|audio_start|>",
|
| 4 |
+
"audio_eos_token": "<|audio_end|>",
|
| 5 |
+
"audio_token": "<|audio_pad|>",
|
| 6 |
+
"backend": "tokenizers",
|
| 7 |
+
"bos_token": null,
|
| 8 |
+
"clean_up_tokenization_spaces": false,
|
| 9 |
+
"eos_token": "<|im_end|>",
|
| 10 |
+
"errors": "replace",
|
| 11 |
+
"extra_special_tokens": [
|
| 12 |
+
"<robot_action_0>",
|
| 13 |
+
"<robot_action_1>",
|
| 14 |
+
"<robot_action_2>",
|
| 15 |
+
"<robot_action_3>",
|
| 16 |
+
"<robot_action_4>",
|
| 17 |
+
"<robot_action_5>",
|
| 18 |
+
"<robot_action_6>",
|
| 19 |
+
"<robot_action_7>",
|
| 20 |
+
"<robot_action_8>",
|
| 21 |
+
"<robot_action_9>",
|
| 22 |
+
"<robot_action_10>",
|
| 23 |
+
"<robot_action_11>",
|
| 24 |
+
"<robot_action_12>",
|
| 25 |
+
"<robot_action_13>",
|
| 26 |
+
"<robot_action_14>",
|
| 27 |
+
"<robot_action_15>",
|
| 28 |
+
"<robot_action_16>",
|
| 29 |
+
"<robot_action_17>",
|
| 30 |
+
"<robot_action_18>",
|
| 31 |
+
"<robot_action_19>",
|
| 32 |
+
"<robot_action_20>",
|
| 33 |
+
"<robot_action_21>",
|
| 34 |
+
"<robot_action_22>",
|
| 35 |
+
"<robot_action_23>",
|
| 36 |
+
"<robot_action_24>",
|
| 37 |
+
"<robot_action_25>",
|
| 38 |
+
"<robot_action_26>",
|
| 39 |
+
"<robot_action_27>",
|
| 40 |
+
"<robot_action_28>",
|
| 41 |
+
"<robot_action_29>",
|
| 42 |
+
"<robot_action_30>",
|
| 43 |
+
"<robot_action_31>",
|
| 44 |
+
"<robot_action_32>",
|
| 45 |
+
"<robot_action_33>",
|
| 46 |
+
"<robot_action_34>",
|
| 47 |
+
"<robot_action_35>",
|
| 48 |
+
"<robot_action_36>",
|
| 49 |
+
"<robot_action_37>",
|
| 50 |
+
"<robot_action_38>",
|
| 51 |
+
"<robot_action_39>",
|
| 52 |
+
"<robot_action_40>",
|
| 53 |
+
"<robot_action_41>",
|
| 54 |
+
"<robot_action_42>",
|
| 55 |
+
"<robot_action_43>",
|
| 56 |
+
"<robot_action_44>",
|
| 57 |
+
"<robot_action_45>",
|
| 58 |
+
"<robot_action_46>",
|
| 59 |
+
"<robot_action_47>",
|
| 60 |
+
"<robot_action_48>",
|
| 61 |
+
"<robot_action_49>",
|
| 62 |
+
"<robot_action_50>",
|
| 63 |
+
"<robot_action_51>",
|
| 64 |
+
"<robot_action_52>",
|
| 65 |
+
"<robot_action_53>",
|
| 66 |
+
"<robot_action_54>",
|
| 67 |
+
"<robot_action_55>",
|
| 68 |
+
"<robot_action_56>",
|
| 69 |
+
"<robot_action_57>",
|
| 70 |
+
"<robot_action_58>",
|
| 71 |
+
"<robot_action_59>",
|
| 72 |
+
"<robot_action_60>",
|
| 73 |
+
"<robot_action_61>",
|
| 74 |
+
"<robot_action_62>",
|
| 75 |
+
"<robot_action_63>",
|
| 76 |
+
"<robot_action_64>",
|
| 77 |
+
"<robot_action_65>",
|
| 78 |
+
"<robot_action_66>",
|
| 79 |
+
"<robot_action_67>",
|
| 80 |
+
"<robot_action_68>",
|
| 81 |
+
"<robot_action_69>",
|
| 82 |
+
"<robot_action_70>",
|
| 83 |
+
"<robot_action_71>",
|
| 84 |
+
"<robot_action_72>",
|
| 85 |
+
"<robot_action_73>",
|
| 86 |
+
"<robot_action_74>",
|
| 87 |
+
"<robot_action_75>",
|
| 88 |
+
"<robot_action_76>",
|
| 89 |
+
"<robot_action_77>",
|
| 90 |
+
"<robot_action_78>",
|
| 91 |
+
"<robot_action_79>",
|
| 92 |
+
"<robot_action_80>",
|
| 93 |
+
"<robot_action_81>",
|
| 94 |
+
"<robot_action_82>",
|
| 95 |
+
"<robot_action_83>",
|
| 96 |
+
"<robot_action_84>",
|
| 97 |
+
"<robot_action_85>",
|
| 98 |
+
"<robot_action_86>",
|
| 99 |
+
"<robot_action_87>",
|
| 100 |
+
"<robot_action_88>",
|
| 101 |
+
"<robot_action_89>",
|
| 102 |
+
"<robot_action_90>",
|
| 103 |
+
"<robot_action_91>",
|
| 104 |
+
"<robot_action_92>",
|
| 105 |
+
"<robot_action_93>",
|
| 106 |
+
"<robot_action_94>",
|
| 107 |
+
"<robot_action_95>",
|
| 108 |
+
"<robot_action_96>",
|
| 109 |
+
"<robot_action_97>",
|
| 110 |
+
"<robot_action_98>",
|
| 111 |
+
"<robot_action_99>",
|
| 112 |
+
"<robot_action_100>",
|
| 113 |
+
"<robot_action_101>",
|
| 114 |
+
"<robot_action_102>",
|
| 115 |
+
"<robot_action_103>",
|
| 116 |
+
"<robot_action_104>",
|
| 117 |
+
"<robot_action_105>",
|
| 118 |
+
"<robot_action_106>",
|
| 119 |
+
"<robot_action_107>",
|
| 120 |
+
"<robot_action_108>",
|
| 121 |
+
"<robot_action_109>",
|
| 122 |
+
"<robot_action_110>",
|
| 123 |
+
"<robot_action_111>",
|
| 124 |
+
"<robot_action_112>",
|
| 125 |
+
"<robot_action_113>",
|
| 126 |
+
"<robot_action_114>",
|
| 127 |
+
"<robot_action_115>",
|
| 128 |
+
"<robot_action_116>",
|
| 129 |
+
"<robot_action_117>",
|
| 130 |
+
"<robot_action_118>",
|
| 131 |
+
"<robot_action_119>",
|
| 132 |
+
"<robot_action_120>",
|
| 133 |
+
"<robot_action_121>",
|
| 134 |
+
"<robot_action_122>",
|
| 135 |
+
"<robot_action_123>",
|
| 136 |
+
"<robot_action_124>",
|
| 137 |
+
"<robot_action_125>",
|
| 138 |
+
"<robot_action_126>",
|
| 139 |
+
"<robot_action_127>",
|
| 140 |
+
"<robot_action_128>",
|
| 141 |
+
"<robot_action_129>",
|
| 142 |
+
"<robot_action_130>",
|
| 143 |
+
"<robot_action_131>",
|
| 144 |
+
"<robot_action_132>",
|
| 145 |
+
"<robot_action_133>",
|
| 146 |
+
"<robot_action_134>",
|
| 147 |
+
"<robot_action_135>",
|
| 148 |
+
"<robot_action_136>",
|
| 149 |
+
"<robot_action_137>",
|
| 150 |
+
"<robot_action_138>",
|
| 151 |
+
"<robot_action_139>",
|
| 152 |
+
"<robot_action_140>",
|
| 153 |
+
"<robot_action_141>",
|
| 154 |
+
"<robot_action_142>",
|
| 155 |
+
"<robot_action_143>",
|
| 156 |
+
"<robot_action_144>",
|
| 157 |
+
"<robot_action_145>",
|
| 158 |
+
"<robot_action_146>",
|
| 159 |
+
"<robot_action_147>",
|
| 160 |
+
"<robot_action_148>",
|
| 161 |
+
"<robot_action_149>",
|
| 162 |
+
"<robot_action_150>",
|
| 163 |
+
"<robot_action_151>",
|
| 164 |
+
"<robot_action_152>",
|
| 165 |
+
"<robot_action_153>",
|
| 166 |
+
"<robot_action_154>",
|
| 167 |
+
"<robot_action_155>",
|
| 168 |
+
"<robot_action_156>",
|
| 169 |
+
"<robot_action_157>",
|
| 170 |
+
"<robot_action_158>",
|
| 171 |
+
"<robot_action_159>",
|
| 172 |
+
"<robot_action_160>",
|
| 173 |
+
"<robot_action_161>",
|
| 174 |
+
"<robot_action_162>",
|
| 175 |
+
"<robot_action_163>",
|
| 176 |
+
"<robot_action_164>",
|
| 177 |
+
"<robot_action_165>",
|
| 178 |
+
"<robot_action_166>",
|
| 179 |
+
"<robot_action_167>",
|
| 180 |
+
"<robot_action_168>",
|
| 181 |
+
"<robot_action_169>",
|
| 182 |
+
"<robot_action_170>",
|
| 183 |
+
"<robot_action_171>",
|
| 184 |
+
"<robot_action_172>",
|
| 185 |
+
"<robot_action_173>",
|
| 186 |
+
"<robot_action_174>",
|
| 187 |
+
"<robot_action_175>",
|
| 188 |
+
"<robot_action_176>",
|
| 189 |
+
"<robot_action_177>",
|
| 190 |
+
"<robot_action_178>",
|
| 191 |
+
"<robot_action_179>",
|
| 192 |
+
"<robot_action_180>",
|
| 193 |
+
"<robot_action_181>",
|
| 194 |
+
"<robot_action_182>",
|
| 195 |
+
"<robot_action_183>",
|
| 196 |
+
"<robot_action_184>",
|
| 197 |
+
"<robot_action_185>",
|
| 198 |
+
"<robot_action_186>",
|
| 199 |
+
"<robot_action_187>",
|
| 200 |
+
"<robot_action_188>",
|
| 201 |
+
"<robot_action_189>",
|
| 202 |
+
"<robot_action_190>",
|
| 203 |
+
"<robot_action_191>",
|
| 204 |
+
"<robot_action_192>",
|
| 205 |
+
"<robot_action_193>",
|
| 206 |
+
"<robot_action_194>",
|
| 207 |
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| 578 |
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| 932 |
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| 933 |
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|
| 934 |
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|
| 935 |
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|
| 936 |
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|
| 937 |
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|
| 938 |
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|
| 939 |
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|
| 940 |
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|
| 941 |
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|
| 942 |
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|
| 943 |
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|
| 944 |
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|
| 945 |
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|
| 946 |
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|
| 947 |
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|
| 948 |
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|
| 949 |
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"<robot_action_937>",
|
| 950 |
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|
| 951 |
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|
| 952 |
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"<robot_action_940>",
|
| 953 |
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|
| 954 |
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|
| 955 |
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|
| 956 |
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|
| 957 |
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|
| 958 |
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|
| 959 |
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|
| 960 |
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|
| 961 |
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|
| 962 |
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|
| 963 |
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|
| 964 |
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|
| 965 |
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|
| 966 |
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|
| 967 |
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|
| 968 |
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|
| 969 |
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|
| 970 |
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|
| 971 |
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|
| 972 |
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|
| 973 |
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|
| 974 |
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|
| 975 |
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|
| 976 |
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|
| 977 |
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|
| 978 |
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|
| 979 |
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|
| 980 |
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|
| 981 |
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|
| 982 |
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|
| 983 |
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|
| 984 |
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|
| 985 |
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|
| 986 |
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|
| 987 |
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|
| 988 |
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|
| 989 |
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|
| 990 |
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|
| 991 |
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|
| 992 |
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|
| 993 |
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|
| 994 |
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|
| 995 |
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|
| 996 |
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|
| 997 |
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|
| 998 |
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|
| 999 |
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|
| 1000 |
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|
| 1001 |
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|
| 1002 |
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|
| 1003 |
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|
| 1004 |
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|
| 1005 |
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|
| 1006 |
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|
| 1007 |
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|
| 1008 |
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|
| 1009 |
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|
| 1010 |
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|
| 1011 |
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|
| 1012 |
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|
| 1013 |
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|
| 1014 |
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|
| 1015 |
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|
| 1016 |
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|
| 1017 |
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|
| 1018 |
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|
| 1019 |
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|
| 1020 |
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|
| 1021 |
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|
| 1022 |
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|
| 1023 |
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|
| 1024 |
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|
| 1025 |
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|
| 1026 |
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|
| 1027 |
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|
| 1028 |
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|
| 1029 |
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|
| 1030 |
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|
| 1031 |
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|
| 1032 |
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|
| 1033 |
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|
| 1034 |
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|
| 1035 |
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|
| 1036 |
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|
| 1037 |
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|
| 1038 |
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|
| 1039 |
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|
| 1040 |
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| 1041 |
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|
| 1042 |
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| 1043 |
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| 1044 |
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| 1045 |
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| 1046 |
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| 1047 |
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| 1048 |
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| 1049 |
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| 1050 |
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| 1051 |
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| 1052 |
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| 1053 |
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| 1054 |
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| 1055 |
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| 1056 |
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| 1057 |
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| 1058 |
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| 1059 |
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| 1060 |
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| 1061 |
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| 1062 |
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| 1063 |
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|
| 1064 |
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|
| 1065 |
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| 1066 |
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| 1067 |
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| 1068 |
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| 1069 |
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| 1070 |
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| 1071 |
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| 1072 |
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| 1073 |
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| 1074 |
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| 1075 |
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| 1076 |
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| 1077 |
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| 1078 |
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| 1079 |
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|
| 1080 |
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|
| 1081 |
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|
| 1082 |
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| 1083 |
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| 1084 |
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| 1085 |
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| 1086 |
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| 1087 |
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| 1088 |
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| 1089 |
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| 1090 |
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| 1091 |
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| 1092 |
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| 1093 |
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| 1094 |
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| 1095 |
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| 1096 |
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| 1097 |
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| 1098 |
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| 1099 |
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|
| 1100 |
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|
| 1101 |
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|
| 1102 |
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| 1103 |
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| 1104 |
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|
| 1105 |
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|
| 1106 |
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|
| 1107 |
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|
| 1108 |
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|
| 1109 |
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|
| 1110 |
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|
| 1111 |
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|
| 1112 |
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|
| 1113 |
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|
| 1114 |
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|
| 1115 |
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|
| 1116 |
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|
| 1117 |
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|
| 1118 |
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|
| 1119 |
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| 1120 |
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| 1121 |
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| 1122 |
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|
| 1123 |
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| 1124 |
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| 1125 |
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|
| 1126 |
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| 1127 |
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| 1128 |
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| 1129 |
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| 1130 |
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| 1131 |
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| 1132 |
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| 1133 |
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| 1134 |
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|
| 1135 |
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| 1136 |
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| 1137 |
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| 1138 |
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| 1139 |
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| 1140 |
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| 1141 |
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| 1142 |
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| 1143 |
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| 1144 |
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| 1145 |
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| 1146 |
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| 1147 |
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| 1148 |
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| 1149 |
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|
| 1150 |
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| 1151 |
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|
| 1152 |
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| 1153 |
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| 1154 |
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| 1155 |
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| 1156 |
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| 1157 |
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| 1158 |
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| 1159 |
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| 1160 |
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| 1161 |
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| 1162 |
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| 1163 |
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| 1164 |
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| 1165 |
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| 1166 |
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| 1167 |
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| 1168 |
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| 1169 |
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| 1170 |
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| 1171 |
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| 1172 |
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| 1173 |
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| 1174 |
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| 1175 |
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| 1176 |
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| 1177 |
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| 1178 |
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| 1179 |
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|
| 1180 |
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| 1181 |
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| 1182 |
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| 1183 |
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| 1184 |
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| 1185 |
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| 1186 |
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| 1187 |
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| 1188 |
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| 1189 |
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| 1190 |
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| 1191 |
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| 1192 |
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| 1193 |
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| 1194 |
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| 1195 |
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| 1196 |
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| 1197 |
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| 1198 |
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|
| 1199 |
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|
| 1200 |
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| 1201 |
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| 1202 |
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| 1203 |
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| 1204 |
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| 1205 |
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| 1206 |
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| 1207 |
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| 1208 |
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| 1209 |
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| 1210 |
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| 1211 |
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| 1212 |
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| 1213 |
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| 1214 |
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| 1215 |
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| 1216 |
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| 1217 |
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| 1218 |
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| 1219 |
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| 1220 |
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| 1221 |
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| 1222 |
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| 1223 |
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| 1224 |
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| 1225 |
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| 1226 |
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| 1227 |
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| 1228 |
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|
| 1229 |
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|
| 1230 |
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| 1231 |
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| 1232 |
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| 1233 |
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| 1234 |
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| 1235 |
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| 1236 |
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| 1237 |
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| 1238 |
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| 1239 |
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| 1240 |
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| 1241 |
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| 1242 |
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| 1243 |
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| 1244 |
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| 1245 |
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| 1246 |
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| 1247 |
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| 1248 |
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| 1249 |
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|
| 1250 |
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|
| 1251 |
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| 1252 |
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| 1253 |
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| 1254 |
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| 1255 |
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| 1256 |
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| 1257 |
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| 1258 |
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| 1259 |
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| 1260 |
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| 1261 |
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| 1262 |
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| 1263 |
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| 1264 |
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| 1265 |
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|
| 1266 |
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| 1267 |
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| 1268 |
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| 1269 |
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| 1270 |
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| 1271 |
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| 1272 |
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| 1273 |
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|
| 1274 |
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|
| 1275 |
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|
| 1276 |
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|
| 1277 |
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|
| 1278 |
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|
| 1279 |
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|
| 1280 |
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|
| 1281 |
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|
| 1282 |
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|
| 1283 |
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|
| 1284 |
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|
| 1285 |
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|
| 1286 |
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|
| 1287 |
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|
| 1288 |
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|
| 1289 |
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|
| 1290 |
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|
| 1291 |
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|
| 1292 |
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|
| 1293 |
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|
| 1294 |
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|
| 1295 |
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|
| 1296 |
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|
| 1297 |
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|
| 1298 |
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|
| 1299 |
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|
| 1300 |
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|
| 1301 |
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|
| 1302 |
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|
| 1303 |
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|
| 1304 |
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|
| 1305 |
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|
| 1306 |
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|
| 1307 |
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|
| 1308 |
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|
| 1309 |
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|
| 1310 |
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|
| 1311 |
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|
| 1312 |
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|
| 1313 |
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"<robot_action_1301>",
|
| 1314 |
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|
| 1315 |
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|
| 1316 |
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|
| 1317 |
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|
| 1318 |
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|
| 1319 |
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|
| 1320 |
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|
| 1321 |
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|
| 1322 |
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|
| 1323 |
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|
| 1324 |
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|
| 1325 |
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|
| 1326 |
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|
| 1327 |
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|
| 1328 |
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|
| 1329 |
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|
| 1330 |
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|
| 1331 |
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|
| 1332 |
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|
| 1333 |
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|
| 1334 |
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|
| 1335 |
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|
| 1336 |
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|
| 1337 |
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|
| 1338 |
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|
| 1339 |
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|
| 1340 |
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| 1341 |
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| 1342 |
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|
| 1343 |
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| 1344 |
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| 1345 |
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| 1346 |
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| 1347 |
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| 1348 |
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|
| 1349 |
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| 1350 |
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| 1351 |
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| 1352 |
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| 1353 |
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| 1354 |
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| 1355 |
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| 1356 |
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| 1357 |
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| 1358 |
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| 1359 |
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| 1360 |
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| 1361 |
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| 1362 |
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| 1363 |
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| 1364 |
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| 1365 |
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| 1366 |
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| 1367 |
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| 1368 |
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| 1369 |
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| 1370 |
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| 1371 |
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| 1372 |
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| 1373 |
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| 1374 |
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| 1375 |
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| 1376 |
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| 1377 |
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| 1378 |
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| 1379 |
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| 1380 |
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| 1381 |
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| 1382 |
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| 1383 |
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| 1384 |
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| 1385 |
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| 1387 |
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| 1388 |
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| 1390 |
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| 1399 |
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| 1400 |
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| 1421 |
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| 1422 |
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| 1423 |
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| 1424 |
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| 1425 |
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| 1426 |
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| 1427 |
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| 1428 |
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| 1429 |
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| 1430 |
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| 1431 |
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| 1432 |
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| 1433 |
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| 1434 |
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| 1435 |
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| 1436 |
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| 1437 |
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| 1438 |
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| 1439 |
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| 1440 |
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| 1441 |
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| 1442 |
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| 1443 |
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| 1444 |
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| 1445 |
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| 1446 |
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| 1447 |
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| 1448 |
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| 1449 |
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| 1450 |
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| 1451 |
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| 1452 |
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| 1453 |
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| 1454 |
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| 1455 |
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| 1456 |
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| 1457 |
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| 1458 |
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| 1459 |
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| 1460 |
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| 1461 |
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| 1462 |
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| 1463 |
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| 1464 |
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| 1465 |
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| 1466 |
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| 1467 |
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| 1468 |
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| 1469 |
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| 1470 |
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| 1471 |
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| 1472 |
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| 1473 |
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| 1474 |
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| 1475 |
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| 1476 |
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| 1477 |
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| 1478 |
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| 1479 |
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| 1480 |
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| 1481 |
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| 1482 |
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| 1483 |
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| 1484 |
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| 1485 |
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| 1486 |
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| 1487 |
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| 1488 |
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| 1489 |
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| 1490 |
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| 1491 |
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| 1492 |
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| 1493 |
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| 1494 |
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| 1495 |
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| 1496 |
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| 1497 |
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| 1498 |
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| 1499 |
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| 1500 |
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| 1501 |
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| 1502 |
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| 1503 |
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| 1504 |
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| 1505 |
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| 1506 |
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| 1510 |
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| 1512 |
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| 1513 |
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| 1514 |
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| 1520 |
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| 1521 |
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| 1522 |
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| 1523 |
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| 1524 |
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| 1525 |
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| 1526 |
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| 1527 |
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| 1528 |
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| 1529 |
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| 1530 |
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| 1531 |
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| 1532 |
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| 1533 |
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| 1534 |
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| 1535 |
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| 1536 |
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| 1537 |
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| 1538 |
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| 1539 |
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| 1540 |
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| 1541 |
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| 1542 |
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| 1543 |
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| 1544 |
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| 1545 |
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| 1546 |
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| 1548 |
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| 1549 |
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| 1550 |
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| 1551 |
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| 1552 |
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| 1553 |
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| 1554 |
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| 1555 |
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| 1556 |
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| 1558 |
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| 1559 |
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| 1560 |
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| 1561 |
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| 1562 |
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| 1563 |
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| 1564 |
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| 1565 |
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| 1566 |
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| 1567 |
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| 1568 |
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| 1569 |
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| 1570 |
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| 1571 |
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| 1572 |
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| 1573 |
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| 1574 |
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| 1575 |
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| 1576 |
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| 1577 |
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| 1578 |
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| 1579 |
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| 1580 |
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| 1581 |
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| 1582 |
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| 1583 |
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| 1584 |
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| 1585 |
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| 1586 |
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| 1587 |
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| 1588 |
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| 1589 |
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| 1590 |
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| 1591 |
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| 1592 |
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| 1593 |
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| 1594 |
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| 1597 |
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| 1598 |
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| 1599 |
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| 1600 |
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| 1601 |
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| 1602 |
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| 1603 |
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| 1604 |
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| 1605 |
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| 1606 |
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| 1607 |
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| 1608 |
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| 1609 |
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| 1610 |
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| 1611 |
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| 1612 |
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| 1613 |
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| 1614 |
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| 1615 |
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| 1616 |
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|
| 1617 |
+
"<robot_action_1605>",
|
| 1618 |
+
"<robot_action_1606>",
|
| 1619 |
+
"<robot_action_1607>",
|
| 1620 |
+
"<robot_action_1608>",
|
| 1621 |
+
"<robot_action_1609>",
|
| 1622 |
+
"<robot_action_1610>",
|
| 1623 |
+
"<robot_action_1611>",
|
| 1624 |
+
"<robot_action_1612>",
|
| 1625 |
+
"<robot_action_1613>",
|
| 1626 |
+
"<robot_action_1614>",
|
| 1627 |
+
"<robot_action_1615>",
|
| 1628 |
+
"<robot_action_1616>",
|
| 1629 |
+
"<robot_action_1617>",
|
| 1630 |
+
"<robot_action_1618>",
|
| 1631 |
+
"<robot_action_1619>",
|
| 1632 |
+
"<robot_action_1620>",
|
| 1633 |
+
"<robot_action_1621>",
|
| 1634 |
+
"<robot_action_1622>",
|
| 1635 |
+
"<robot_action_1623>",
|
| 1636 |
+
"<robot_action_1624>",
|
| 1637 |
+
"<robot_action_1625>",
|
| 1638 |
+
"<robot_action_1626>",
|
| 1639 |
+
"<robot_action_1627>",
|
| 1640 |
+
"<robot_action_1628>",
|
| 1641 |
+
"<robot_action_1629>",
|
| 1642 |
+
"<robot_action_1630>",
|
| 1643 |
+
"<robot_action_1631>",
|
| 1644 |
+
"<robot_action_1632>",
|
| 1645 |
+
"<robot_action_1633>",
|
| 1646 |
+
"<robot_action_1634>",
|
| 1647 |
+
"<robot_action_1635>",
|
| 1648 |
+
"<robot_action_1636>",
|
| 1649 |
+
"<robot_action_1637>",
|
| 1650 |
+
"<robot_action_1638>",
|
| 1651 |
+
"<robot_action_1639>",
|
| 1652 |
+
"<robot_action_1640>",
|
| 1653 |
+
"<robot_action_1641>",
|
| 1654 |
+
"<robot_action_1642>",
|
| 1655 |
+
"<robot_action_1643>",
|
| 1656 |
+
"<robot_action_1644>",
|
| 1657 |
+
"<robot_action_1645>",
|
| 1658 |
+
"<robot_action_1646>",
|
| 1659 |
+
"<robot_action_1647>",
|
| 1660 |
+
"<robot_action_1648>",
|
| 1661 |
+
"<robot_action_1649>",
|
| 1662 |
+
"<robot_action_1650>",
|
| 1663 |
+
"<robot_action_1651>",
|
| 1664 |
+
"<robot_action_1652>",
|
| 1665 |
+
"<robot_action_1653>",
|
| 1666 |
+
"<robot_action_1654>",
|
| 1667 |
+
"<robot_action_1655>",
|
| 1668 |
+
"<robot_action_1656>",
|
| 1669 |
+
"<robot_action_1657>",
|
| 1670 |
+
"<robot_action_1658>",
|
| 1671 |
+
"<robot_action_1659>",
|
| 1672 |
+
"<robot_action_1660>",
|
| 1673 |
+
"<robot_action_1661>",
|
| 1674 |
+
"<robot_action_1662>",
|
| 1675 |
+
"<robot_action_1663>",
|
| 1676 |
+
"<robot_action_1664>",
|
| 1677 |
+
"<robot_action_1665>",
|
| 1678 |
+
"<robot_action_1666>",
|
| 1679 |
+
"<robot_action_1667>",
|
| 1680 |
+
"<robot_action_1668>",
|
| 1681 |
+
"<robot_action_1669>",
|
| 1682 |
+
"<robot_action_1670>",
|
| 1683 |
+
"<robot_action_1671>",
|
| 1684 |
+
"<robot_action_1672>",
|
| 1685 |
+
"<robot_action_1673>",
|
| 1686 |
+
"<robot_action_1674>",
|
| 1687 |
+
"<robot_action_1675>",
|
| 1688 |
+
"<robot_action_1676>",
|
| 1689 |
+
"<robot_action_1677>",
|
| 1690 |
+
"<robot_action_1678>",
|
| 1691 |
+
"<robot_action_1679>",
|
| 1692 |
+
"<robot_action_1680>",
|
| 1693 |
+
"<robot_action_1681>",
|
| 1694 |
+
"<robot_action_1682>",
|
| 1695 |
+
"<robot_action_1683>",
|
| 1696 |
+
"<robot_action_1684>",
|
| 1697 |
+
"<robot_action_1685>",
|
| 1698 |
+
"<robot_action_1686>",
|
| 1699 |
+
"<robot_action_1687>",
|
| 1700 |
+
"<robot_action_1688>",
|
| 1701 |
+
"<robot_action_1689>",
|
| 1702 |
+
"<robot_action_1690>",
|
| 1703 |
+
"<robot_action_1691>",
|
| 1704 |
+
"<robot_action_1692>",
|
| 1705 |
+
"<robot_action_1693>",
|
| 1706 |
+
"<robot_action_1694>",
|
| 1707 |
+
"<robot_action_1695>",
|
| 1708 |
+
"<robot_action_1696>",
|
| 1709 |
+
"<robot_action_1697>",
|
| 1710 |
+
"<robot_action_1698>",
|
| 1711 |
+
"<robot_action_1699>",
|
| 1712 |
+
"<robot_action_1700>",
|
| 1713 |
+
"<robot_action_1701>",
|
| 1714 |
+
"<robot_action_1702>",
|
| 1715 |
+
"<robot_action_1703>",
|
| 1716 |
+
"<robot_action_1704>",
|
| 1717 |
+
"<robot_action_1705>",
|
| 1718 |
+
"<robot_action_1706>",
|
| 1719 |
+
"<robot_action_1707>",
|
| 1720 |
+
"<robot_action_1708>",
|
| 1721 |
+
"<robot_action_1709>",
|
| 1722 |
+
"<robot_action_1710>",
|
| 1723 |
+
"<robot_action_1711>",
|
| 1724 |
+
"<robot_action_1712>",
|
| 1725 |
+
"<robot_action_1713>",
|
| 1726 |
+
"<robot_action_1714>",
|
| 1727 |
+
"<robot_action_1715>",
|
| 1728 |
+
"<robot_action_1716>",
|
| 1729 |
+
"<robot_action_1717>",
|
| 1730 |
+
"<robot_action_1718>",
|
| 1731 |
+
"<robot_action_1719>",
|
| 1732 |
+
"<robot_action_1720>",
|
| 1733 |
+
"<robot_action_1721>",
|
| 1734 |
+
"<robot_action_1722>",
|
| 1735 |
+
"<robot_action_1723>",
|
| 1736 |
+
"<robot_action_1724>",
|
| 1737 |
+
"<robot_action_1725>",
|
| 1738 |
+
"<robot_action_1726>",
|
| 1739 |
+
"<robot_action_1727>",
|
| 1740 |
+
"<robot_action_1728>",
|
| 1741 |
+
"<robot_action_1729>",
|
| 1742 |
+
"<robot_action_1730>",
|
| 1743 |
+
"<robot_action_1731>",
|
| 1744 |
+
"<robot_action_1732>",
|
| 1745 |
+
"<robot_action_1733>",
|
| 1746 |
+
"<robot_action_1734>",
|
| 1747 |
+
"<robot_action_1735>",
|
| 1748 |
+
"<robot_action_1736>",
|
| 1749 |
+
"<robot_action_1737>",
|
| 1750 |
+
"<robot_action_1738>",
|
| 1751 |
+
"<robot_action_1739>",
|
| 1752 |
+
"<robot_action_1740>",
|
| 1753 |
+
"<robot_action_1741>",
|
| 1754 |
+
"<robot_action_1742>",
|
| 1755 |
+
"<robot_action_1743>",
|
| 1756 |
+
"<robot_action_1744>",
|
| 1757 |
+
"<robot_action_1745>",
|
| 1758 |
+
"<robot_action_1746>",
|
| 1759 |
+
"<robot_action_1747>",
|
| 1760 |
+
"<robot_action_1748>",
|
| 1761 |
+
"<robot_action_1749>",
|
| 1762 |
+
"<robot_action_1750>",
|
| 1763 |
+
"<robot_action_1751>",
|
| 1764 |
+
"<robot_action_1752>",
|
| 1765 |
+
"<robot_action_1753>",
|
| 1766 |
+
"<robot_action_1754>",
|
| 1767 |
+
"<robot_action_1755>",
|
| 1768 |
+
"<robot_action_1756>",
|
| 1769 |
+
"<robot_action_1757>",
|
| 1770 |
+
"<robot_action_1758>",
|
| 1771 |
+
"<robot_action_1759>",
|
| 1772 |
+
"<robot_action_1760>",
|
| 1773 |
+
"<robot_action_1761>",
|
| 1774 |
+
"<robot_action_1762>",
|
| 1775 |
+
"<robot_action_1763>",
|
| 1776 |
+
"<robot_action_1764>",
|
| 1777 |
+
"<robot_action_1765>",
|
| 1778 |
+
"<robot_action_1766>",
|
| 1779 |
+
"<robot_action_1767>",
|
| 1780 |
+
"<robot_action_1768>",
|
| 1781 |
+
"<robot_action_1769>",
|
| 1782 |
+
"<robot_action_1770>",
|
| 1783 |
+
"<robot_action_1771>",
|
| 1784 |
+
"<robot_action_1772>",
|
| 1785 |
+
"<robot_action_1773>",
|
| 1786 |
+
"<robot_action_1774>",
|
| 1787 |
+
"<robot_action_1775>",
|
| 1788 |
+
"<robot_action_1776>",
|
| 1789 |
+
"<robot_action_1777>",
|
| 1790 |
+
"<robot_action_1778>",
|
| 1791 |
+
"<robot_action_1779>",
|
| 1792 |
+
"<robot_action_1780>",
|
| 1793 |
+
"<robot_action_1781>",
|
| 1794 |
+
"<robot_action_1782>",
|
| 1795 |
+
"<robot_action_1783>",
|
| 1796 |
+
"<robot_action_1784>",
|
| 1797 |
+
"<robot_action_1785>",
|
| 1798 |
+
"<robot_action_1786>",
|
| 1799 |
+
"<robot_action_1787>",
|
| 1800 |
+
"<robot_action_1788>",
|
| 1801 |
+
"<robot_action_1789>",
|
| 1802 |
+
"<robot_action_1790>",
|
| 1803 |
+
"<robot_action_1791>",
|
| 1804 |
+
"<robot_action_1792>",
|
| 1805 |
+
"<robot_action_1793>",
|
| 1806 |
+
"<robot_action_1794>",
|
| 1807 |
+
"<robot_action_1795>",
|
| 1808 |
+
"<robot_action_1796>",
|
| 1809 |
+
"<robot_action_1797>",
|
| 1810 |
+
"<robot_action_1798>",
|
| 1811 |
+
"<robot_action_1799>",
|
| 1812 |
+
"<robot_action_1800>",
|
| 1813 |
+
"<robot_action_1801>",
|
| 1814 |
+
"<robot_action_1802>",
|
| 1815 |
+
"<robot_action_1803>",
|
| 1816 |
+
"<robot_action_1804>",
|
| 1817 |
+
"<robot_action_1805>",
|
| 1818 |
+
"<robot_action_1806>",
|
| 1819 |
+
"<robot_action_1807>",
|
| 1820 |
+
"<robot_action_1808>",
|
| 1821 |
+
"<robot_action_1809>",
|
| 1822 |
+
"<robot_action_1810>",
|
| 1823 |
+
"<robot_action_1811>",
|
| 1824 |
+
"<robot_action_1812>",
|
| 1825 |
+
"<robot_action_1813>",
|
| 1826 |
+
"<robot_action_1814>",
|
| 1827 |
+
"<robot_action_1815>",
|
| 1828 |
+
"<robot_action_1816>",
|
| 1829 |
+
"<robot_action_1817>",
|
| 1830 |
+
"<robot_action_1818>",
|
| 1831 |
+
"<robot_action_1819>",
|
| 1832 |
+
"<robot_action_1820>",
|
| 1833 |
+
"<robot_action_1821>",
|
| 1834 |
+
"<robot_action_1822>",
|
| 1835 |
+
"<robot_action_1823>",
|
| 1836 |
+
"<robot_action_1824>",
|
| 1837 |
+
"<robot_action_1825>",
|
| 1838 |
+
"<robot_action_1826>",
|
| 1839 |
+
"<robot_action_1827>",
|
| 1840 |
+
"<robot_action_1828>",
|
| 1841 |
+
"<robot_action_1829>",
|
| 1842 |
+
"<robot_action_1830>",
|
| 1843 |
+
"<robot_action_1831>",
|
| 1844 |
+
"<robot_action_1832>",
|
| 1845 |
+
"<robot_action_1833>",
|
| 1846 |
+
"<robot_action_1834>",
|
| 1847 |
+
"<robot_action_1835>",
|
| 1848 |
+
"<robot_action_1836>",
|
| 1849 |
+
"<robot_action_1837>",
|
| 1850 |
+
"<robot_action_1838>",
|
| 1851 |
+
"<robot_action_1839>",
|
| 1852 |
+
"<robot_action_1840>",
|
| 1853 |
+
"<robot_action_1841>",
|
| 1854 |
+
"<robot_action_1842>",
|
| 1855 |
+
"<robot_action_1843>",
|
| 1856 |
+
"<robot_action_1844>",
|
| 1857 |
+
"<robot_action_1845>",
|
| 1858 |
+
"<robot_action_1846>",
|
| 1859 |
+
"<robot_action_1847>",
|
| 1860 |
+
"<robot_action_1848>",
|
| 1861 |
+
"<robot_action_1849>",
|
| 1862 |
+
"<robot_action_1850>",
|
| 1863 |
+
"<robot_action_1851>",
|
| 1864 |
+
"<robot_action_1852>",
|
| 1865 |
+
"<robot_action_1853>",
|
| 1866 |
+
"<robot_action_1854>",
|
| 1867 |
+
"<robot_action_1855>",
|
| 1868 |
+
"<robot_action_1856>",
|
| 1869 |
+
"<robot_action_1857>",
|
| 1870 |
+
"<robot_action_1858>",
|
| 1871 |
+
"<robot_action_1859>",
|
| 1872 |
+
"<robot_action_1860>",
|
| 1873 |
+
"<robot_action_1861>",
|
| 1874 |
+
"<robot_action_1862>",
|
| 1875 |
+
"<robot_action_1863>",
|
| 1876 |
+
"<robot_action_1864>",
|
| 1877 |
+
"<robot_action_1865>",
|
| 1878 |
+
"<robot_action_1866>",
|
| 1879 |
+
"<robot_action_1867>",
|
| 1880 |
+
"<robot_action_1868>",
|
| 1881 |
+
"<robot_action_1869>",
|
| 1882 |
+
"<robot_action_1870>",
|
| 1883 |
+
"<robot_action_1871>",
|
| 1884 |
+
"<robot_action_1872>",
|
| 1885 |
+
"<robot_action_1873>",
|
| 1886 |
+
"<robot_action_1874>",
|
| 1887 |
+
"<robot_action_1875>",
|
| 1888 |
+
"<robot_action_1876>",
|
| 1889 |
+
"<robot_action_1877>",
|
| 1890 |
+
"<robot_action_1878>",
|
| 1891 |
+
"<robot_action_1879>",
|
| 1892 |
+
"<robot_action_1880>",
|
| 1893 |
+
"<robot_action_1881>",
|
| 1894 |
+
"<robot_action_1882>",
|
| 1895 |
+
"<robot_action_1883>",
|
| 1896 |
+
"<robot_action_1884>",
|
| 1897 |
+
"<robot_action_1885>",
|
| 1898 |
+
"<robot_action_1886>",
|
| 1899 |
+
"<robot_action_1887>",
|
| 1900 |
+
"<robot_action_1888>",
|
| 1901 |
+
"<robot_action_1889>",
|
| 1902 |
+
"<robot_action_1890>",
|
| 1903 |
+
"<robot_action_1891>",
|
| 1904 |
+
"<robot_action_1892>",
|
| 1905 |
+
"<robot_action_1893>",
|
| 1906 |
+
"<robot_action_1894>",
|
| 1907 |
+
"<robot_action_1895>",
|
| 1908 |
+
"<robot_action_1896>",
|
| 1909 |
+
"<robot_action_1897>",
|
| 1910 |
+
"<robot_action_1898>",
|
| 1911 |
+
"<robot_action_1899>",
|
| 1912 |
+
"<robot_action_1900>",
|
| 1913 |
+
"<robot_action_1901>",
|
| 1914 |
+
"<robot_action_1902>",
|
| 1915 |
+
"<robot_action_1903>",
|
| 1916 |
+
"<robot_action_1904>",
|
| 1917 |
+
"<robot_action_1905>",
|
| 1918 |
+
"<robot_action_1906>",
|
| 1919 |
+
"<robot_action_1907>",
|
| 1920 |
+
"<robot_action_1908>",
|
| 1921 |
+
"<robot_action_1909>",
|
| 1922 |
+
"<robot_action_1910>",
|
| 1923 |
+
"<robot_action_1911>",
|
| 1924 |
+
"<robot_action_1912>",
|
| 1925 |
+
"<robot_action_1913>",
|
| 1926 |
+
"<robot_action_1914>",
|
| 1927 |
+
"<robot_action_1915>",
|
| 1928 |
+
"<robot_action_1916>",
|
| 1929 |
+
"<robot_action_1917>",
|
| 1930 |
+
"<robot_action_1918>",
|
| 1931 |
+
"<robot_action_1919>",
|
| 1932 |
+
"<robot_action_1920>",
|
| 1933 |
+
"<robot_action_1921>",
|
| 1934 |
+
"<robot_action_1922>",
|
| 1935 |
+
"<robot_action_1923>",
|
| 1936 |
+
"<robot_action_1924>",
|
| 1937 |
+
"<robot_action_1925>",
|
| 1938 |
+
"<robot_action_1926>",
|
| 1939 |
+
"<robot_action_1927>",
|
| 1940 |
+
"<robot_action_1928>",
|
| 1941 |
+
"<robot_action_1929>",
|
| 1942 |
+
"<robot_action_1930>",
|
| 1943 |
+
"<robot_action_1931>",
|
| 1944 |
+
"<robot_action_1932>",
|
| 1945 |
+
"<robot_action_1933>",
|
| 1946 |
+
"<robot_action_1934>",
|
| 1947 |
+
"<robot_action_1935>",
|
| 1948 |
+
"<robot_action_1936>",
|
| 1949 |
+
"<robot_action_1937>",
|
| 1950 |
+
"<robot_action_1938>",
|
| 1951 |
+
"<robot_action_1939>",
|
| 1952 |
+
"<robot_action_1940>",
|
| 1953 |
+
"<robot_action_1941>",
|
| 1954 |
+
"<robot_action_1942>",
|
| 1955 |
+
"<robot_action_1943>",
|
| 1956 |
+
"<robot_action_1944>",
|
| 1957 |
+
"<robot_action_1945>",
|
| 1958 |
+
"<robot_action_1946>",
|
| 1959 |
+
"<robot_action_1947>",
|
| 1960 |
+
"<robot_action_1948>",
|
| 1961 |
+
"<robot_action_1949>",
|
| 1962 |
+
"<robot_action_1950>",
|
| 1963 |
+
"<robot_action_1951>",
|
| 1964 |
+
"<robot_action_1952>",
|
| 1965 |
+
"<robot_action_1953>",
|
| 1966 |
+
"<robot_action_1954>",
|
| 1967 |
+
"<robot_action_1955>",
|
| 1968 |
+
"<robot_action_1956>",
|
| 1969 |
+
"<robot_action_1957>",
|
| 1970 |
+
"<robot_action_1958>",
|
| 1971 |
+
"<robot_action_1959>",
|
| 1972 |
+
"<robot_action_1960>",
|
| 1973 |
+
"<robot_action_1961>",
|
| 1974 |
+
"<robot_action_1962>",
|
| 1975 |
+
"<robot_action_1963>",
|
| 1976 |
+
"<robot_action_1964>",
|
| 1977 |
+
"<robot_action_1965>",
|
| 1978 |
+
"<robot_action_1966>",
|
| 1979 |
+
"<robot_action_1967>",
|
| 1980 |
+
"<robot_action_1968>",
|
| 1981 |
+
"<robot_action_1969>",
|
| 1982 |
+
"<robot_action_1970>",
|
| 1983 |
+
"<robot_action_1971>",
|
| 1984 |
+
"<robot_action_1972>",
|
| 1985 |
+
"<robot_action_1973>",
|
| 1986 |
+
"<robot_action_1974>",
|
| 1987 |
+
"<robot_action_1975>",
|
| 1988 |
+
"<robot_action_1976>",
|
| 1989 |
+
"<robot_action_1977>",
|
| 1990 |
+
"<robot_action_1978>",
|
| 1991 |
+
"<robot_action_1979>",
|
| 1992 |
+
"<robot_action_1980>",
|
| 1993 |
+
"<robot_action_1981>",
|
| 1994 |
+
"<robot_action_1982>",
|
| 1995 |
+
"<robot_action_1983>",
|
| 1996 |
+
"<robot_action_1984>",
|
| 1997 |
+
"<robot_action_1985>",
|
| 1998 |
+
"<robot_action_1986>",
|
| 1999 |
+
"<robot_action_1987>",
|
| 2000 |
+
"<robot_action_1988>",
|
| 2001 |
+
"<robot_action_1989>",
|
| 2002 |
+
"<robot_action_1990>",
|
| 2003 |
+
"<robot_action_1991>",
|
| 2004 |
+
"<robot_action_1992>",
|
| 2005 |
+
"<robot_action_1993>",
|
| 2006 |
+
"<robot_action_1994>",
|
| 2007 |
+
"<robot_action_1995>",
|
| 2008 |
+
"<robot_action_1996>",
|
| 2009 |
+
"<robot_action_1997>",
|
| 2010 |
+
"<robot_action_1998>",
|
| 2011 |
+
"<robot_action_1999>",
|
| 2012 |
+
"<robot_action_2000>",
|
| 2013 |
+
"<robot_action_2001>",
|
| 2014 |
+
"<robot_action_2002>",
|
| 2015 |
+
"<robot_action_2003>",
|
| 2016 |
+
"<robot_action_2004>",
|
| 2017 |
+
"<robot_action_2005>",
|
| 2018 |
+
"<robot_action_2006>",
|
| 2019 |
+
"<robot_action_2007>",
|
| 2020 |
+
"<robot_action_2008>",
|
| 2021 |
+
"<robot_action_2009>",
|
| 2022 |
+
"<robot_action_2010>",
|
| 2023 |
+
"<robot_action_2011>",
|
| 2024 |
+
"<robot_action_2012>",
|
| 2025 |
+
"<robot_action_2013>",
|
| 2026 |
+
"<robot_action_2014>",
|
| 2027 |
+
"<robot_action_2015>",
|
| 2028 |
+
"<robot_action_2016>",
|
| 2029 |
+
"<robot_action_2017>",
|
| 2030 |
+
"<robot_action_2018>",
|
| 2031 |
+
"<robot_action_2019>",
|
| 2032 |
+
"<robot_action_2020>",
|
| 2033 |
+
"<robot_action_2021>",
|
| 2034 |
+
"<robot_action_2022>",
|
| 2035 |
+
"<robot_action_2023>",
|
| 2036 |
+
"<robot_action_2024>",
|
| 2037 |
+
"<robot_action_2025>",
|
| 2038 |
+
"<robot_action_2026>",
|
| 2039 |
+
"<robot_action_2027>",
|
| 2040 |
+
"<robot_action_2028>",
|
| 2041 |
+
"<robot_action_2029>",
|
| 2042 |
+
"<robot_action_2030>",
|
| 2043 |
+
"<robot_action_2031>",
|
| 2044 |
+
"<robot_action_2032>",
|
| 2045 |
+
"<robot_action_2033>",
|
| 2046 |
+
"<robot_action_2034>",
|
| 2047 |
+
"<robot_action_2035>",
|
| 2048 |
+
"<robot_action_2036>",
|
| 2049 |
+
"<robot_action_2037>",
|
| 2050 |
+
"<robot_action_2038>",
|
| 2051 |
+
"<robot_action_2039>",
|
| 2052 |
+
"<robot_action_2040>",
|
| 2053 |
+
"<robot_action_2041>",
|
| 2054 |
+
"<robot_action_2042>",
|
| 2055 |
+
"<robot_action_2043>",
|
| 2056 |
+
"<robot_action_2044>",
|
| 2057 |
+
"<robot_action_2045>",
|
| 2058 |
+
"<robot_action_2046>",
|
| 2059 |
+
"<robot_action_2047>"
|
| 2060 |
+
],
|
| 2061 |
+
"image_token": "<|image_pad|>",
|
| 2062 |
+
"is_local": true,
|
| 2063 |
+
"model_max_length": 262144,
|
| 2064 |
+
"model_specific_special_tokens": {
|
| 2065 |
+
"audio_bos_token": "<|audio_start|>",
|
| 2066 |
+
"audio_eos_token": "<|audio_end|>",
|
| 2067 |
+
"audio_token": "<|audio_pad|>",
|
| 2068 |
+
"image_token": "<|image_pad|>",
|
| 2069 |
+
"video_token": "<|video_pad|>",
|
| 2070 |
+
"vision_bos_token": "<|vision_start|>",
|
| 2071 |
+
"vision_eos_token": "<|vision_end|>"
|
| 2072 |
+
},
|
| 2073 |
+
"pad_token": "<|endoftext|>",
|
| 2074 |
+
"pretokenize_regex": "(?i:'s|'t|'re|'ve|'m|'ll|'d)|[^\\r\\n\\p{L}\\p{N}]?[\\p{L}\\p{M}]+|\\p{N}| ?[^\\s\\p{L}\\p{M}\\p{N}]+[\\r\\n]*|\\s*[\\r\\n]+|\\s+(?!\\S)|\\s+",
|
| 2075 |
+
"processor_class": "Qwen3VLProcessor",
|
| 2076 |
+
"split_special_tokens": false,
|
| 2077 |
+
"tokenizer_class": "TokenizersBackend",
|
| 2078 |
+
"unk_token": null,
|
| 2079 |
+
"video_token": "<|video_pad|>",
|
| 2080 |
+
"vision_bos_token": "<|vision_start|>",
|
| 2081 |
+
"vision_eos_token": "<|vision_end|>"
|
| 2082 |
+
}
|
checkpoints/model-00001-of-00003.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:62ce222cf1cd748e71bef9648ce3e4f4d133c2e4cb663d65649562ff26ad8da5
|
| 3 |
+
size 4983832336
|
checkpoints/model-00002-of-00003.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:81b329c1f88997eb6854d2ead5b94c2e02417d124f32756548867bc92c391ff1
|
| 3 |
+
size 4999949536
|
checkpoints/model-00003-of-00003.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:72a62ab8d09f02c741403cfdc93c74a5e657980382a4fc026233e34400578b40
|
| 3 |
+
size 900527500
|
checkpoints/model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
config.yaml
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# PointmapVLA checkpoint configuration (release schema).
|
| 2 |
+
#
|
| 3 |
+
# framework.* model architecture; framework.qwenvl.base_vlm is resolved relative to this
|
| 4 |
+
# directory (base_vlm/ holds the Qwen3.5 config, tokenizer and processor only;
|
| 5 |
+
# every weight comes from checkpoints/).
|
| 6 |
+
# datasets.vla_data.* the data recipe this checkpoint was trained with (prompt template, pointmap
|
| 7 |
+
# options, dataset roots relative to the repository root).
|
| 8 |
+
# trainer.* the optimisation hyper-parameters that were used; informational for inference.
|
| 9 |
+
#
|
| 10 |
+
# The state fed to the action head is the 11-D end-effector anchor [position 3 | rotation (first two
|
| 11 |
+
# rows of the rotation matrix) 6 | gripper 2] sliced from the dataset state by key; the slices are
|
| 12 |
+
# derived from the data registry entry of datasets.vla_data.data_mix.
|
| 13 |
+
# This is the pretrained checkpoint: 32-D action head (17 real dims: end-effector position 3 |
|
| 14 |
+
# rotation 6 | gripper 1 | joints 7, then padding) and 17-D state head with the same layout.
|
| 15 |
+
# It is meant as initialisation for fine-tuning; the benchmark fine-tune configs rebuild the head
|
| 16 |
+
# with their own dimensions and PointmapVLA transplants the shared leading slots on load.
|
| 17 |
+
# No training mixture is listed because the pretraining data is not part of this release.
|
| 18 |
+
|
| 19 |
+
framework:
|
| 20 |
+
name: PointmapVLA
|
| 21 |
+
qwenvl:
|
| 22 |
+
base_vlm: ./base_vlm
|
| 23 |
+
attn_implementation: flash_attention_2
|
| 24 |
+
enable_thinking: false
|
| 25 |
+
gradient_checkpointing: true
|
| 26 |
+
pointmap:
|
| 27 |
+
frame: base
|
| 28 |
+
action_model:
|
| 29 |
+
action_dim: 32
|
| 30 |
+
state_dim: 17
|
| 31 |
+
action_horizon: 16
|
| 32 |
+
repeated_diffusion_steps: 8
|
| 33 |
+
num_inference_timesteps: 4
|
| 34 |
+
add_pos_embed: true
|
| 35 |
+
max_seq_len: 1024
|
| 36 |
+
noise_beta_alpha: 1.5
|
| 37 |
+
noise_beta_beta: 1.0
|
| 38 |
+
noise_s: 0.999
|
| 39 |
+
num_timestep_buckets: 1000
|
| 40 |
+
diffusion_model_cfg:
|
| 41 |
+
action_dit_hidden_dim: 1024
|
| 42 |
+
attention_head_dim: 64
|
| 43 |
+
dropout: 0.2
|
| 44 |
+
final_dropout: true
|
| 45 |
+
interleave_self_attention: true
|
| 46 |
+
norm_type: ada_norm
|
| 47 |
+
positional_embeddings: null
|
| 48 |
+
datasets:
|
| 49 |
+
vla_data:
|
| 50 |
+
dataset_py: lerobot_datasets
|
| 51 |
+
lerobot_version: v3.0
|
| 52 |
+
include_state: true
|
| 53 |
+
collate_pointmap: true
|
| 54 |
+
pointmap_out_hw:
|
| 55 |
+
- 256
|
| 56 |
+
- 320
|
| 57 |
+
collate_vlm_inputs: true
|
| 58 |
+
CoT_prompt: 'Task: {instruction} Mode: <end_effector>'
|
| 59 |
+
instruction_normalize: true
|
| 60 |
+
pointmap_origin_tag: ' Pointmap_origin: <robot>'
|
| 61 |
+
trainer:
|
| 62 |
+
learning_rate:
|
| 63 |
+
action_model: 0.0001
|
| 64 |
+
base: 0.0001
|
| 65 |
+
pointmap_encoder: 1.0e-05
|
| 66 |
+
qwen_vl_interface: 1.0e-05
|
| 67 |
+
lr_scheduler_type: constant_with_warmup
|
| 68 |
+
max_train_steps: 200000
|
| 69 |
+
num_warmup_steps: 10000
|
| 70 |
+
optimizer:
|
| 71 |
+
betas:
|
| 72 |
+
- 0.9
|
| 73 |
+
- 0.999
|
| 74 |
+
eps: 1.0e-08
|
| 75 |
+
weight_decay: 0.01
|
| 76 |
+
scheduler_specific_kwargs: {}
|
| 77 |
+
logging_frequency: 5
|
| 78 |
+
save_interval: 5000
|
| 79 |
+
save_full_state: true
|
| 80 |
+
resume_keep: 2
|
| 81 |
+
is_resume: true
|
| 82 |
+
eval_interval: 1000000
|
| 83 |
+
freeze_modules: ''
|
| 84 |
+
seed: 42
|
dataset_statistics.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|