gr1hp_robotonly_30000 / config.json
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{
"action_horizon": 16,
"action_model_lora_alpha": 32,
"action_model_lora_dropout": 0.0,
"action_model_lora_rank": 16,
"action_model_lora_target_modules": [
"vl_qkv",
"vl_proj",
"sa_qkv",
"sa_proj",
"p_qkv",
"p_proj",
"linear1",
"linear2"
],
"action_model_use_lora": false,
"actlat_embodiment_id": "openarm_prq",
"actlat_mode": false,
"actlat_prq_stats_path": "",
"actlat_standardize": false,
"actlat_tokenizer_path": "",
"actlat_z_stats_path": "",
"anchor_dim_norm": "",
"anchor_dim_stats_path": "",
"anchor_human_tips_weight": 1.0,
"anchor_readout_asym": false,
"anchor_readout_dim": 24,
"anchor_readout_shuffle": false,
"anchor_readout_taps": "cog,d2,s3,s7",
"anchor_readout_tweight": true,
"anchor_readout_weight": 0.0,
"anchor_tips_dims": 15,
"architectures": [
"RLDX"
],
"backbone_lora_alpha": 32,
"backbone_lora_dropout": 0.0,
"backbone_lora_num_layers": -1,
"backbone_lora_rank": 16,
"backbone_lora_target_modules": [
"q_proj",
"k_proj",
"v_proj",
"o_proj",
"gate_proj",
"up_proj",
"down_proj"
],
"backbone_use_lora": false,
"color_jitter_params": null,
"conversation_image_first": false,
"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,
"physics_dim": 0,
"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_physics": false,
"use_swiglu": true,
"vl_dim": 4096
},
"dtype": "bfloat16",
"egopi_split_embodiment": false,
"embod_reg_gather": false,
"embod_reg_hand_bins": 0,
"embod_reg_hand_edges": "",
"embod_reg_layer": 2,
"embod_reg_mode": "",
"embod_reg_tbins": 0,
"embod_reg_vic_cov": 0.04,
"embod_reg_vic_var": 1.0,
"embod_reg_weight": 0.05,
"freeze_cog_tokens": false,
"freeze_modules": "",
"general_embodiment_train_ratio": 0,
"gr1hp_align_dim": 24,
"gr1hp_align_only": false,
"gr1hp_align_shuffle": false,
"gr1hp_align_weight": 0.0,
"gr1hp_split_embodiment": false,
"image_max_area": 65536,
"image_resize_m": 32,
"keep_full_lm": false,
"memory_cfg": {
"hidden_size": 4096,
"intermediate_size": 16384,
"max_position_embeddings": 32,
"num_attention_heads": 16,
"num_hidden_layers": 2,
"num_key_value_heads": 16,
"rms_norm_eps": 1e-05,
"use_causal_attn": true,
"use_rope": true
},
"model_name": "RLWRLD/RLDX-1-VLM",
"model_revision": null,
"model_type": "RLDX-1",
"n_cog_tokens": 64,
"physics_delta_indices": null,
"physics_dims": [],
"physics_keys": [],
"physics_use_flow_matching": true,
"random_crop_fraction": null,
"random_rotation_angle": null,
"rtc_inference_delay": 0,
"rtc_inference_exec_horizon": 0,
"rtc_inference_mode": "none",
"rtc_jacobian_steps_only": 3,
"rtc_training_max_delay": 0,
"stage_from_checkpoint": "",
"state_dropout_prob": 0.0,
"train_stage": "",
"transformers_version": "4.57.0",
"tune_diffusion_model": true,
"tune_llm": false,
"tune_projector": true,
"tune_top_llm_layers": 0,
"tune_visual": false,
"use_memory": false,
"use_motion": false,
"use_physics": false,
"use_video": true,
"video_length": 1,
"video_stride": 2,
"vlm_lang_loss": false,
"vlm_lang_weight": 0.5
}