RLDX-1.1-FT-ROBOCASA / config.json
yongjincho-rlwrld's picture
Release RLDX-1.1 (v1.1.0)
bc870b3
Raw History Blame Contribute Delete
2.74 kB
{
"dtype": "bfloat16",
"architectures": [
"RLDX"
],
"transformers_version": "4.57.0",
"attn_implementation": null,
"model_type": "RLDX-1",
"model_dtype": "bfloat16",
"model_name": "RLWRLD/RLDX-1-VLM",
"backbone_model_type": "vtc_qwen3_vl",
"model_revision": null,
"tune_top_llm_layers": 4,
"backbone_embedding_dim": 4096,
"tune_llm": false,
"tune_visual": false,
"select_layer": 18,
"reproject_vision": false,
"use_flash_attention": true,
"load_bf16": true,
"freeze_cog_tokens": false,
"image": {
"max_area": 65536,
"resize_m": 32,
"crop_fraction": null
},
"augmentation": {
"rotation_angle": null,
"color_jitter": {
"brightness": 0.3,
"contrast": 0.4,
"hue": 0.08,
"saturation": 0.5
}
},
"formalize_language": true,
"apply_sincos_state_encoding": false,
"use_relative_action": true,
"use_percentiles": true,
"conversation_image_first": false,
"max_state_dim": 64,
"max_action_dim": 64,
"action_horizon": 16,
"hidden_size": 1024,
"input_embedding_dim": 1536,
"general_embodiment_train_ratio": 0.0,
"mask_padded_action_dims": true,
"add_pos_embed": true,
"attn_dropout": 0.0,
"use_vlln": false,
"max_seq_len": 1024,
"n_cog_tokens": 64,
"diffusion_model_cfg": {
"action_model_max_seq_len": 512,
"attention_head_dim": 64,
"depth_multi_stream": 4,
"depth_single_stream": 8,
"dropout": 0.2,
"final_dropout": true,
"num_attention_heads": 24,
"output_dim": 1024,
"positional_embeddings": "rope_sa_only",
"pre_norm": "layer_norm",
"qk_norm": "rms_norm",
"rope_theta": 10000.0,
"sa_dim": 1536,
"temb_type": "input_token",
"use_swiglu": true,
"vl_dim": 4096
},
"num_inference_timesteps": 4,
"noise_beta_alpha": 1.5,
"noise_beta_beta": 1.0,
"noise_s": 0.999,
"num_timestep_buckets": 1000,
"tune_projector": true,
"tune_diffusion_model": true,
"tune_vlln": true,
"action_model_lora": null,
"backbone_lora": null,
"state_dropout_prob": 0.0,
"state_additive_noise_scale": 0.0,
"rtc_training_max_delay": 0,
"memory": null,
"motion": {
"insert_layer": 9,
"d_hid": 512,
"window": [
5,
9,
9
],
"ext_chnls": [
256
],
"int_chnls": [
256,
256,
512
],
"corr_func": "cosine",
"n_encoders": 1,
"use_layerscale": false,
"layerscale_init": 1e-05,
"use_layernorm": true,
"use_syncbn": false,
"injection_point": "vision_encoder",
"pool_type": "avg",
"drop": true,
"gradient_check": false
},
"use_video": true,
"video_length": 4,
"video_stride": 2,
"physics": null,
"max_num_embodiments": 8,
"format_version": 2
}