Download config.json from lambda-humanoid/lambda0-midtrain-100k: direct link, hf CLI and curl.
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- Download file 7.45 kB
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https://huggingface.co/lambda-humanoid/lambda0-midtrain-100k/resolve/main/config.json
- Command line
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hf download hf://lambda-humanoid/lambda0-midtrain-100k/config.json
-
curl -L -o config.json https://huggingface.co/lambda-humanoid/lambda0-midtrain-100k/resolve/main/config.json
7.45 kB
| { | |
| "action_space_specs": [ | |
| { | |
| "action_dim": 138, | |
| "blocks": [ | |
| { | |
| "end": 3, | |
| "name": "left_wrist_pos", | |
| "start": 0 | |
| }, | |
| { | |
| "end": 9, | |
| "name": "left_wrist_rot6d", | |
| "start": 3 | |
| }, | |
| { | |
| "end": 69, | |
| "name": "left_finger_geometry", | |
| "start": 9 | |
| }, | |
| { | |
| "end": 72, | |
| "name": "right_wrist_pos", | |
| "start": 69 | |
| }, | |
| { | |
| "end": 78, | |
| "name": "right_wrist_rot6d", | |
| "start": 72 | |
| }, | |
| { | |
| "end": 138, | |
| "name": "right_finger_geometry", | |
| "start": 78 | |
| } | |
| ], | |
| "id": 0, | |
| "name": "human_hand_geometry", | |
| "proprio_dim": 138 | |
| }, | |
| { | |
| "action_dim": 184, | |
| "blocks": [ | |
| { | |
| "end": 64, | |
| "name": "sonic_motion", | |
| "start": 0 | |
| }, | |
| { | |
| "end": 124, | |
| "name": "left_finger_geometry", | |
| "start": 64 | |
| }, | |
| { | |
| "end": 184, | |
| "name": "right_finger_geometry", | |
| "start": 124 | |
| } | |
| ], | |
| "id": 1, | |
| "name": "human_fullbody_sonic_geometry", | |
| "proprio_dim": 120 | |
| }, | |
| { | |
| "action_dim": 76, | |
| "blocks": [ | |
| { | |
| "end": 64, | |
| "name": "sonic_motion", | |
| "start": 0 | |
| }, | |
| { | |
| "end": 70, | |
| "name": "left_revo2", | |
| "start": 64 | |
| }, | |
| { | |
| "end": 76, | |
| "name": "right_revo2", | |
| "start": 70 | |
| } | |
| ], | |
| "id": 2, | |
| "name": "robot_sonic_revo2", | |
| "proprio_dim": 44 | |
| }, | |
| { | |
| "action_dim": 36, | |
| "blocks": [ | |
| { | |
| "end": 7, | |
| "name": "left_hand", | |
| "start": 0 | |
| }, | |
| { | |
| "end": 14, | |
| "name": "right_hand", | |
| "start": 7 | |
| }, | |
| { | |
| "end": 21, | |
| "name": "left_arm", | |
| "start": 14 | |
| }, | |
| { | |
| "end": 28, | |
| "name": "right_arm", | |
| "start": 21 | |
| }, | |
| { | |
| "end": 32, | |
| "name": "torso_pose", | |
| "start": 28 | |
| }, | |
| { | |
| "end": 36, | |
| "name": "torso_navigation", | |
| "start": 32 | |
| } | |
| ], | |
| "id": 3, | |
| "name": "robot_g1_simple_sim", | |
| "proprio_dim": 32 | |
| }, | |
| { | |
| "action_dim": 184, | |
| "blocks": [ | |
| { | |
| "end": 64, | |
| "name": "sonic_motion", | |
| "start": 0 | |
| }, | |
| { | |
| "end": 124, | |
| "name": "left_finger_geometry", | |
| "start": 64 | |
| }, | |
| { | |
| "end": 184, | |
| "name": "right_finger_geometry", | |
| "start": 124 | |
| } | |
| ], | |
| "id": 4, | |
| "name": "human_fullbody_sonic_hand_state", | |
| "proprio_dim": 138 | |
| } | |
| ], | |
| "architectures": [ | |
| "Lambda0" | |
| ], | |
| "base_model_name_or_path": "Qwen/Qwen3.5-2B", | |
| "dim_time": 32, | |
| "dtype": "bfloat16", | |
| "expert_dropout": 0.0, | |
| "expert_hidden_size": 768, | |
| "expert_mlp_ratio": 4.0, | |
| "expert_num_heads": 12, | |
| "expert_num_layers": 24, | |
| "model_type": "lambda0", | |
| "num_actions": 50, | |
| "num_domains": 30, | |
| "prediction_type": "velocity", | |
| "qwen_config": { | |
| "_name_or_path": "", | |
| "architectures": [ | |
| "Qwen3_5ForConditionalGeneration" | |
| ], | |
| "chunk_size_feed_forward": 0, | |
| "dtype": null, | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "image_token_id": 248056, | |
| "is_encoder_decoder": false, | |
| "label2id": { | |
| "LABEL_0": 0, | |
| "LABEL_1": 1 | |
| }, | |
| "model_type": "qwen3_5", | |
| "output_attentions": false, | |
| "output_hidden_states": false, | |
| "problem_type": null, | |
| "return_dict": true, | |
| "text_config": { | |
| "_name_or_path": "", | |
| "architectures": null, | |
| "attention_bias": false, | |
| "attention_dropout": 0.0, | |
| "attn_output_gate": true, | |
| "bos_token_id": null, | |
| "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, | |
| "intermediate_size": 6144, | |
| "is_encoder_decoder": 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_conv_kernel_dim": 4, | |
| "linear_key_head_dim": 128, | |
| "linear_num_key_heads": 16, | |
| "linear_num_value_heads": 16, | |
| "linear_value_head_dim": 128, | |
| "mamba_ssm_dtype": "float32", | |
| "max_position_embeddings": 262144, | |
| "mlp_only_layers": [], | |
| "model_type": "qwen3_5_text", | |
| "mtp_num_hidden_layers": 1, | |
| "mtp_use_dedicated_embeddings": false, | |
| "num_attention_heads": 8, | |
| "num_hidden_layers": 24, | |
| "num_key_value_heads": 2, | |
| "output_attentions": false, | |
| "output_hidden_states": 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" | |
| }, | |
| "tie_word_embeddings": true, | |
| "use_cache": true, | |
| "vocab_size": 248320 | |
| }, | |
| "tie_word_embeddings": true, | |
| "transformers_version": "5.14.1", | |
| "video_token_id": 248057, | |
| "vision_config": { | |
| "_name_or_path": "", | |
| "architectures": null, | |
| "chunk_size_feed_forward": 0, | |
| "deepstack_visual_indexes": [], | |
| "depth": 24, | |
| "dtype": null, | |
| "hidden_act": "gelu_pytorch_tanh", | |
| "hidden_size": 1024, | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "in_channels": 3, | |
| "initializer_range": 0.02, | |
| "intermediate_size": 4096, | |
| "is_encoder_decoder": false, | |
| "label2id": { | |
| "LABEL_0": 0, | |
| "LABEL_1": 1 | |
| }, | |
| "model_type": "qwen3_5_vision", | |
| "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_start_token_id": 248053 | |
| }, | |
| "soft_prompt_length": 32, | |
| "state_conditioning_mode": "discrete_vlm", | |
| "state_discrete_bins": 256, | |
| "training_contract": "lambda0_velocity_v1", | |
| "transformers_version": "5.14.1", | |
| "use_proprio": true, | |
| "variant": "2b", | |
| "vlm_hidden_size": 2048 | |
| } | |