| { |
| "_name_or_path": "", |
| "action_expert": { |
| "action_dim": 64, |
| "action_horizon": 64, |
| "causal_attn": false, |
| "context_layer_norm": true, |
| "drop_action_dim_overflow": false, |
| "ffn_multiple_of": 256, |
| "hidden_dim": 768, |
| "k_batched_cross_attn": true, |
| "k_batched_cross_attn_backend": "flash_gqa", |
| "mask_padded_action_rows": true, |
| "mlp_ratio": 4.0, |
| "num_heads": 8, |
| "num_inference_steps": 10, |
| "num_layers": 36, |
| "qk_norm": true, |
| "qk_norm_eps": 1e-06, |
| "rope": true, |
| "rtc_delay_sampling": "poisson", |
| "rtc_max_delay_steps": 12, |
| "rtc_poisson_mean": 5.0, |
| "rtc_probability": 0.5, |
| "schema_version": 1, |
| "timestep_embed_dim": 256, |
| "timestep_sampling_alpha": 1.5, |
| "timestep_sampling_beta": 1.0, |
| "timestep_sampling_offset": 0.001, |
| "timestep_sampling_scale": 0.999, |
| "train_samples_per_chunk": 8, |
| "type": "dit" |
| }, |
| "architectures": [ |
| "Isaac05ForConditionalGeneration" |
| ], |
| "auto_map": { |
| "AutoConfig": "configuration_isaac05.Isaac05Config", |
| "AutoModelForCausalLM": "modeling_isaac05.Isaac05ForConditionalGeneration", |
| "AutoProcessor": "processing_isaac05.Isaac05Processor" |
| }, |
| "chunk_size_feed_forward": 0, |
| "dtype": "bfloat16", |
| "id2label": { |
| "0": "LABEL_0", |
| "1": "LABEL_1" |
| }, |
| "image_token_id": 248056, |
| "is_encoder_decoder": false, |
| "isaac05_artifact": { |
| "artifact_kind": "trained_policy", |
| "schema_version": 1, |
| "tensor_bytes": 142894027456, |
| "tensor_count": 1616 |
| }, |
| "isaac05_coord_tokens": { |
| "enabled": true, |
| "offset": 248320, |
| "size": 1001 |
| }, |
| "isaac05_fast_tokens": { |
| "enabled": true, |
| "offset": 249321, |
| "size": 2048, |
| "tokenizer": "physical-intelligence/fast" |
| }, |
| "isaac05_moe": { |
| "logical_router_outputs": 512, |
| "num_null_experts": 256, |
| "num_real_experts": 256, |
| "physical_router_outputs": 257, |
| "route_norm": true, |
| "route_scale": 1.0, |
| "router_contract": [ |
| 256, |
| 256 |
| ], |
| "router_contract_version": 1, |
| "score_before_experts": false, |
| "score_func": "softmax", |
| "shared_null_router_row": true, |
| "top_k": 8, |
| "uses_expert_bias": false |
| }, |
| "isaac05_test_only_reduced_geometry": false, |
| "isaac05_vla": { |
| "action_expert": { |
| "action_dim": 64, |
| "action_horizon": 64, |
| "causal_attn": false, |
| "context_layer_norm": true, |
| "drop_action_dim_overflow": false, |
| "ffn_multiple_of": 256, |
| "hidden_dim": 768, |
| "k_batched_cross_attn": true, |
| "k_batched_cross_attn_backend": "flash_gqa", |
| "mask_padded_action_rows": true, |
| "mlp_ratio": 4.0, |
| "num_heads": 8, |
| "num_inference_steps": 10, |
| "num_layers": 36, |
| "qk_norm": true, |
| "qk_norm_eps": 1e-06, |
| "rope": true, |
| "rtc_delay_sampling": "poisson", |
| "rtc_max_delay_steps": 12, |
| "rtc_poisson_mean": 5.0, |
| "rtc_probability": 0.5, |
| "schema_version": 1, |
| "timestep_embed_dim": 256, |
| "timestep_sampling_alpha": 1.5, |
| "timestep_sampling_beta": 1.0, |
| "timestep_sampling_offset": 0.001, |
| "timestep_sampling_scale": 0.999, |
| "train_samples_per_chunk": 8, |
| "type": "dit" |
| }, |
| "mtp": { |
| "action_runtime": "exclude", |
| "physical_layers": 0, |
| "present": false, |
| "rollout_steps": 0 |
| }, |
| "rmsnorm_weight_convention": "zero_centered_1_plus_weight", |
| "schema_version": 1, |
| "state_dict_schema": "pr3154_v1", |
| "vector_encoder": { |
| "bias": false, |
| "hidden_dim": 2048, |
| "max_states": 128, |
| "output_dim": 2048, |
| "type": "linear_silu_linear" |
| } |
| }, |
| "label2id": { |
| "LABEL_0": 0, |
| "LABEL_1": 1 |
| }, |
| "max_sequence_length": 262144, |
| "model_type": "isaac_0_5", |
| "output_attentions": false, |
| "output_hidden_states": false, |
| "problem_type": null, |
| "return_dict": true, |
| "runtime_dtype": "bfloat16", |
| "storage_dtype": "float32", |
| "text_config": { |
| "_name_or_path": "", |
| "architectures": null, |
| "attention_bias": false, |
| "attention_dropout": 0.0, |
| "attn_output_gate": true, |
| "bos_token_id": 248044, |
| "chunk_size_feed_forward": 0, |
| "dtype": "bfloat16", |
| "eos_token_id": 248044, |
| "full_attention_interval": 4, |
| "head_dim": 256, |
| "hidden_act": "silu", |
| "hidden_size": 2048, |
| "id2label": { |
| "0": "LABEL_0", |
| "1": "LABEL_1" |
| }, |
| "initializer_range": 0.02, |
| "is_encoder_decoder": false, |
| "isaac05_moe": { |
| "logical_router_outputs": 512, |
| "num_null_experts": 256, |
| "num_real_experts": 256, |
| "physical_router_outputs": 257, |
| "route_norm": true, |
| "route_scale": 1.0, |
| "router_contract": [ |
| 256, |
| 256 |
| ], |
| "router_contract_version": 1, |
| "score_before_experts": false, |
| "score_func": "softmax", |
| "shared_null_router_row": true, |
| "top_k": 8, |
| "uses_expert_bias": false |
| }, |
| "label2id": { |
| "LABEL_0": 0, |
| "LABEL_1": 1 |
| }, |
| "layer_types": [ |
| "linear_attention", |
| "linear_attention", |
| "linear_attention", |
| "full_attention", |
| "linear_attention", |
| "linear_attention", |
| "linear_attention", |
| "full_attention", |
| "linear_attention", |
| "linear_attention", |
| "linear_attention", |
| "full_attention", |
| "linear_attention", |
| "linear_attention", |
| "linear_attention", |
| "full_attention", |
| "linear_attention", |
| "linear_attention", |
| "linear_attention", |
| "full_attention", |
| "linear_attention", |
| "linear_attention", |
| "linear_attention", |
| "full_attention", |
| "linear_attention", |
| "linear_attention", |
| "linear_attention", |
| "full_attention", |
| "linear_attention", |
| "linear_attention", |
| "linear_attention", |
| "full_attention", |
| "linear_attention", |
| "linear_attention", |
| "linear_attention", |
| "full_attention", |
| "linear_attention", |
| "linear_attention", |
| "linear_attention", |
| "full_attention" |
| ], |
| "linear_conv_kernel_dim": 4, |
| "linear_key_head_dim": 128, |
| "linear_num_key_heads": 16, |
| "linear_num_value_heads": 32, |
| "linear_value_head_dim": 128, |
| "mamba_ssm_dtype": "float32", |
| "max_position_embeddings": 262144, |
| "model_type": "qwen3_5_moe_text", |
| "moe_intermediate_size": 512, |
| "mtp_num_hidden_layers": 0, |
| "mtp_use_dedicated_embeddings": false, |
| "num_attention_heads": 16, |
| "num_experts": 256, |
| "num_experts_per_tok": 8, |
| "num_hidden_layers": 40, |
| "num_key_value_heads": 2, |
| "output_attentions": false, |
| "output_hidden_states": false, |
| "output_router_logits": false, |
| "pad_token_id": null, |
| "partial_rotary_factor": 0.25, |
| "problem_type": null, |
| "return_dict": true, |
| "rms_norm_eps": 1e-06, |
| "rope_parameters": { |
| "mrope_interleaved": true, |
| "mrope_section": [ |
| 11, |
| 11, |
| 10 |
| ], |
| "partial_rotary_factor": 0.25, |
| "rope_theta": 10000000, |
| "rope_type": "default" |
| }, |
| "router_aux_loss_coef": 0.001, |
| "shared_expert_intermediate_size": 512, |
| "tie_word_embeddings": false, |
| "use_cache": true, |
| "vocab_size": 256279 |
| }, |
| "tie_word_embeddings": false, |
| "transformers_version": "5.5.4", |
| "vector_max_states": 128, |
| "video_token_id": 248057, |
| "vision_config": { |
| "_name_or_path": "", |
| "architectures": null, |
| "chunk_size_feed_forward": 0, |
| "deepstack_visual_indexes": [], |
| "depth": 27, |
| "dtype": null, |
| "hidden_act": "gelu_pytorch_tanh", |
| "hidden_size": 1152, |
| "id2label": { |
| "0": "LABEL_0", |
| "1": "LABEL_1" |
| }, |
| "in_channels": 3, |
| "initializer_range": 0.02, |
| "intermediate_size": 4304, |
| "is_encoder_decoder": false, |
| "label2id": { |
| "LABEL_0": 0, |
| "LABEL_1": 1 |
| }, |
| "model_type": "qwen3_5_moe", |
| "num_heads": 16, |
| "num_position_embeddings": 2304, |
| "out_hidden_size": 2048, |
| "output_attentions": false, |
| "output_hidden_states": false, |
| "patch_size": 16, |
| "problem_type": null, |
| "return_dict": true, |
| "spatial_merge_size": 2, |
| "temporal_patch_size": 2 |
| }, |
| "vision_end_token_id": 248054, |
| "vision_rescale_factor": 0.00392156862745098, |
| "vision_start_token_id": 248053, |
| "vision_token": "<|image_pad|>" |
| } |
|
|
