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g05_base / config.json
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Drop checkpoint_profile and return_continuous_action from the G0.5 config
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{
"type": "g05",
"n_obs_steps": 6,
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [
14
]
},
"observation.images.head_rgb": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.images.left_wrist_rgb": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
},
"observation.images.right_wrist_rgb": {
"type": "VISUAL",
"shape": [
3,
256,
256
]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [
14
]
}
},
"device": "cuda",
"use_amp": false,
"use_peft": false,
"push_to_hub": true,
"repo_id": null,
"private": null,
"tags": [
"g05",
"robotics",
"non-commercial"
],
"license": "other",
"pretrained_path": null,
"pretrained_revision": null,
"embodiment": "galaxea_r1lite",
"action_head": "flow",
"runtime_system": "system2",
"predict_cot": true,
"discrete_action": true,
"continuous_action": true,
"dtype": "bfloat16",
"policy_action_dim": 27,
"policy_state_dim": 27,
"raw_action_dim": 14,
"raw_state_dim": 14,
"chunk_size": 32,
"n_action_steps": 16,
"normalization_clip": [
-5.0,
5.0
],
"use_relative_actions": true,
"relative_exclude_joints": [
"gripper"
],
"action_feature_names": [
"left_arm.0",
"left_arm.1",
"left_arm.2",
"left_arm.3",
"left_arm.4",
"left_arm.5",
"left_gripper.0",
"right_arm.0",
"right_arm.1",
"right_arm.2",
"right_arm.3",
"right_arm.4",
"right_arm.5",
"right_gripper.0"
],
"use_stepwise_action_norm": true,
"libero_gripper_binarize": false,
"camera_order": [
"observation.images.head_rgb",
"observation.images.left_wrist_rgb",
"observation.images.right_wrist_rgb"
],
"camera_sizes": {
"observation.images.head_rgb": [
256,
256
],
"observation.images.left_wrist_rgb": [
256,
256
],
"observation.images.right_wrist_rgb": [
256,
256
]
},
"optional_camera_keys": [],
"image_mean": [
0.5,
0.5,
0.5
],
"image_std": [
0.5,
0.5,
0.5
],
"num_input_images": 18,
"num_prompt_images": 3,
"author_model_config": {
"pretrained_model_path": null,
"hf_processor_class": "g05.models.g05.qwen35.processing.Qwen35ProcessorWrapper",
"base_vocab_size": 248044,
"padded_vocab_size": 248320,
"add_loc_tokens": false,
"image_token_index": 248056,
"pad_token_id": 0,
"vocab_size": 248320,
"eos_token_id": 248044,
"action_dim": 27,
"proprio_dim": 27,
"proprio_encoder": "mlp",
"horizon_steps": 32,
"cond_steps": 1,
"num_obs_steps": 1,
"attn_implementation": "eager",
"position_ids_type": "pi0fast",
"action_position_offset": null,
"checkpoint_vision": true,
"checkpoint_vlm": false,
"checkpoint_action_expert": true,
"vlm": {
"name": "g05.models.g05.qwen35.mixture_qwen35.MixtureQwen35",
"hidden_size": 2048,
"intermediate_size": 6144,
"num_hidden_layers": 24,
"num_attention_heads": 8,
"num_key_value_heads": 2,
"head_dim": 256,
"rms_norm_eps": 1e-06,
"max_position_embeddings": 262144,
"attention_bias": false,
"input_type": "embedding",
"vocab_size": 248320,
"pad_token_id": 0,
"output_type": "lm_head",
"adaptive_mode": null,
"time_hidden_size": 0,
"use_final_norm": true,
"hidden_act": "silu",
"rope_parameters": {
"rope_theta": 10000000.0,
"rope_type": "default",
"mrope_section": [
11,
11,
10
],
"mrope_interleaved": true,
"partial_rotary_factor": 0.25
},
"linear_attn_backend": "fla",
"linear_conv_kernel_dim": 4,
"linear_key_head_dim": 128,
"linear_value_head_dim": 128,
"linear_num_key_heads": 16,
"linear_num_value_heads": 16,
"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"
]
},
"action_expert": {
"name": "g05.models.g05.qwen35.mixture_qwen35.MixtureQwen35",
"hidden_size": 1024,
"intermediate_size": 4096,
"num_hidden_layers": 24,
"num_attention_heads": 8,
"num_key_value_heads": 2,
"head_dim": 256,
"rms_norm_eps": 1e-06,
"max_position_embeddings": 262144,
"attention_bias": false,
"adaptive_mode": "adaLN",
"time_hidden_size": 1024,
"input_type": "linear",
"input_dim": 27,
"output_type": "linear",
"output_dim": 27,
"use_final_norm": true,
"hidden_act": "silu",
"rope_parameters": {
"rope_theta": 10000000.0,
"rope_type": "default",
"mrope_section": [
11,
11,
10
],
"mrope_interleaved": true,
"partial_rotary_factor": 0.25
},
"linear_attn_backend": "fla",
"linear_conv_kernel_dim": 4,
"linear_key_head_dim": 128,
"linear_value_head_dim": 128,
"linear_num_key_heads": 16,
"linear_num_value_heads": 16,
"layer_types": [
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention",
"full_attention"
]
},
"fm": {
"time_convention": "pi_convention",
"flow_sampling": "beta",
"flow_sig_min": 0.001,
"num_inference_steps": 10,
"num_flow_samples": 4,
"fm_weight": 1.0,
"joint_training": false,
"padding_action_weight": 0.0,
"zero_pad_action_target": false,
"final_action_clip_value": null,
"action_causal": false,
"horizon_steps": 32,
"action_dim": 27,
"use_correlated_noise": false,
"correlation_beta": 0.5,
"action_correlation_cholesky_path": "data/stats/action_correlation_cholesky.npy",
"correlated_noise_embodiments": []
},
"ar": {
"ce_weight": 1.0,
"vocab_size": 248320,
"text_token_end": 248044,
"loc_token_end": 248077,
"use_fused_ce": true,
"ce_z_loss_scale": 0.0,
"block_wise_autoregressive": false,
"bos_blk_id": null,
"eos_blk_id": null,
"block_size": null,
"do_sample": false,
"max_new_tokens": 300,
"temperature": 0.7,
"top_k": 128,
"top_p": 0.95,
"repetition_penalty": 1.2,
"no_repeat_ngram_size": 3
},
"vision": {
"name": "g05.models.g05.qwen35.vision.Qwen3_5VisionModel",
"depth": 24,
"hidden_size": 1024,
"num_heads": 16,
"patch_size": 16,
"temporal_patch_size": 2,
"spatial_merge_size": 2,
"in_channels": 3,
"intermediate_size": 4096,
"out_hidden_size": 2048,
"num_position_embeddings": 2304,
"hidden_act": "gelu_pytorch_tanh",
"num_image_tokens": null,
"num_channels": 3,
"temporal_freq": 4,
"spacetime_mode": "factorized",
"token_drop_layer": null,
"temporal_pe_pretrain_frames": null,
"use_temporal_conv3d": false,
"batch_all_cameras": false
},
"vision_projector": {
"name": null
},
"action_tokenizer": "g05.tokenizer.interface.vq_base.VQActionTokenizer",
"AT_CONFIG": {
"vqvae_type": "g05.tokenizer.models.actioncodec2_v2.wrapper.ActionCodecV2Wrapper",
"block_wise_autoregressive": false,
"use_extra_tokens": true,
"block_size": 8,
"parts_meta": {
"left_control": 9,
"left_gripper": 1,
"right_control": 9,
"right_gripper": 1,
"lower_body": 7
},
"rule_based_key_patterns": [
"gripper"
],
"rule_based_min_block_len": 1,
"rule_based_binarize_threshold": 0.0,
"ckpt_dir": "checkpoints/action_tokenizer.pt",
"model_arch": {
"max_component_dim": 9,
"horizon": 32,
"horizon_patch_size": 8,
"conv_in_action_kernel": 2,
"encoder_channels": 256,
"latent_dim": 128,
"c_mults": [
1,
2,
2
],
"strides": [
[
1,
1
],
[
2,
1
],
[
2,
1
]
],
"transformer_depths": [
2,
2,
2
],
"num_heads": 8,
"dim_heads": 64,
"ffn_mult": 4.0,
"use_layer_scale": true,
"layer_scale_init": 0.01,
"use_qk_norm": true,
"rope_base": 10000,
"use_block_dct": true,
"block_dct_block_size": 8,
"n_codebooks": 4,
"codebook_size": 4096,
"codebook_dim": 8,
"quantizer_dropout": 0.5,
"ema_decay": 0.95,
"threshold_ema_dead": 2,
"use_rotation_trick": false,
"commitment_loss_weight": 0.25,
"reconstruction_loss_weight": 1.0,
"consistency_loss_weight": 0.0,
"consistency_delta_max_begin": 1,
"consistency_delta_max_end": 3,
"consistency_eps_begin": 0.02,
"consistency_eps_end": 0.1,
"consistency_layer_weights_begin": [
0.0,
0.0,
0.0,
0.0
],
"consistency_layer_weights_end": [
1.0,
0.7,
0.3,
0.1
],
"consistency_schedule_begin_fraction": 0.2,
"consistency_schedule_end_fraction": 0.8
},
"action_template": "{action}",
"num_residuals": 2,
"use_group_markers": true,
"group_order_shuffle": false,
"dropout_noop_parts": true,
"absent_key_fill_value": -100.0
},
"vla_training_strategy": "vla-full-train",
"backbone_lr_multiplier": 1.0,
"max_text_tokens": 160,
"num_input_images": 18,
"camera_size_config": {
"exterior": [
256,
256
],
"wrist_left": [
256,
256
],
"wrist_right": [
256,
256
]
},
"num_extra_image_tokens_per_camera": 0,
"use_lm_head": true,
"discrete_action": true,
"continuous_action": true,
"return_continuous_action": true,
"action_attend_cot": false,
"predict_cot": true,
"max_chunk_token_length": 1024,
"max_pad_token_length": null,
"input_preprocessor": {
"input_action_corruption": false,
"pred_eov": true,
"batchify_action": true,
"pi05_ft_mode": false
},
"ae_vlm_condition_mode": "cross_attn_only",
"mem_frame_drop_prob": 0.3,
"vision_lr_multiplier": 1.0,
"hf_processor_path": "checkpoints/qwen3_5_2b_base_processor"
},
"processor_metadata": {
"shape_meta": {
"action": [
{
"key": "left_arm",
"lerobot_key": "observation.state.left_arm",
"start_index": 0,
"raw_shape": 6,
"shape": 6,
"time_offset": 1
},
{
"key": "left_gripper",
"lerobot_key": "observation.state.left_gripper",
"start_index": 0,
"raw_shape": 1,
"shape": 1,
"time_offset": 1
},
{
"key": "right_arm",
"lerobot_key": "observation.state.right_arm",
"start_index": 0,
"raw_shape": 6,
"shape": 6,
"time_offset": 1
},
{
"key": "right_gripper",
"lerobot_key": "observation.state.right_gripper",
"start_index": 0,
"raw_shape": 1,
"shape": 1,
"time_offset": 1
}
],
"state": [
{
"key": "left_arm",
"lerobot_key": "observation.state.left_arm",
"start_index": 0,
"raw_shape": 6,
"shape": 6,
"time_offset": 0
},
{
"key": "left_gripper",
"lerobot_key": "observation.state.left_gripper",
"start_index": 0,
"raw_shape": 1,
"shape": 1,
"time_offset": 0
},
{
"key": "right_arm",
"lerobot_key": "observation.state.right_arm",
"start_index": 0,
"raw_shape": 6,
"shape": 6,
"time_offset": 0
},
{
"key": "right_gripper",
"lerobot_key": "observation.state.right_gripper",
"start_index": 0,
"raw_shape": 1,
"shape": 1,
"time_offset": 0
}
],
"images": [
{
"key": "head_rgb",
"camera_type": "exterior",
"lerobot_key": "observation.images.head_rgb",
"start_index": 0,
"raw_shape": [
3,
720,
1280
],
"shape": [
3,
224,
224
],
"time_offset": 0
},
{
"key": "left_wrist_rgb",
"camera_type": "wrist_left",
"lerobot_key": "observation.images.left_wrist_rgb",
"start_index": 0,
"raw_shape": [
3,
720,
1280
],
"shape": [
3,
224,
224
],
"time_offset": 0
},
{
"key": "right_wrist_rgb",
"camera_type": "wrist_right",
"lerobot_key": "observation.images.right_wrist_rgb",
"start_index": 0,
"raw_shape": [
3,
720,
1280
],
"shape": [
3,
224,
224
],
"time_offset": 0
}
]
},
"action_state_transforms": [
{
"_target_": "g05.data_processor.transforms.relative_action.RelativeJointTransform",
"keys": [
"left_arm",
"right_arm"
]
}
],
"train_transforms": {
"head_rgb": [
{
"_target_": "g05.data_processor.transforms.image.ToTensor"
},
{
"_target_": "torchvision.transforms.Normalize",
"mean": [
0.5,
0.5,
0.5
],
"std": [
0.5,
0.5,
0.5
]
}
],
"left_wrist_rgb": [
{
"_target_": "g05.data_processor.transforms.image.ToTensor"
},
{
"_target_": "torchvision.transforms.Normalize",
"mean": [
0.5,
0.5,
0.5
],
"std": [
0.5,
0.5,
0.5
]
}
],
"right_wrist_rgb": [
{
"_target_": "g05.data_processor.transforms.image.ToTensor"
},
{
"_target_": "torchvision.transforms.Normalize",
"mean": [
0.5,
0.5,
0.5
],
"std": [
0.5,
0.5,
0.5
]
}
]
},
"val_transforms": {
"head_rgb": [
{
"_target_": "g05.data_processor.transforms.image.ToTensor"
},
{
"_target_": "torchvision.transforms.Normalize",
"mean": [
0.5,
0.5,
0.5
],
"std": [
0.5,
0.5,
0.5
]
}
],
"left_wrist_rgb": [
{
"_target_": "g05.data_processor.transforms.image.ToTensor"
},
{
"_target_": "torchvision.transforms.Normalize",
"mean": [
0.5,
0.5,
0.5
],
"std": [
0.5,
0.5,
0.5
]
}
],
"right_wrist_rgb": [
{
"_target_": "g05.data_processor.transforms.image.ToTensor"
},
{
"_target_": "torchvision.transforms.Normalize",
"mean": [
0.5,
0.5,
0.5
],
"std": [
0.5,
0.5,
0.5
]
}
]
},
"norm_default_mode": "z-score-tail",
"norm_exception_mode": {
"action": {
"left_gripper": "q01/q99",
"right_gripper": "q01/q99"
},
"state": {
"left_gripper": "q01/q99",
"right_gripper": "q01/q99"
}
},
"action_filter": {
"_target_": "g05.data_processor.processor.galaxea_action_processor.R1LiteJointActionFilter",
"velocity_threshold": 0.1,
"dim_thresholds": {
"left_arm": [
0.00756,
0.00662,
0.0432,
0.00732,
0.00493,
0.00612
],
"right_arm": [
0.0115,
0.00717,
0.0619,
0.012,
0.00737,
0.00918
]
}
},
"action_state_merger": {
"_target_": "g05.data_processor.transforms.action_state_merger.GroupedPaddingMerger",
"merge": true,
"max_action_shape_meta": {
"left_arm": 7,
"right_arm": 7,
"left_gripper": 1,
"right_gripper": 1,
"left_ee_pose": 9,
"right_ee_pose": 9,
"lower_body": 7
},
"max_state_shape_meta": {
"left_arm": 7,
"right_arm": 7,
"left_gripper": 1,
"right_gripper": 1,
"left_ee_pose": 9,
"right_ee_pose": 9,
"lower_body": 7
},
"merge_spec": {
"left_control": [
"left_arm",
"left_ee_pose"
],
"left_gripper": [
"left_gripper"
],
"right_control": [
"right_arm",
"right_ee_pose"
],
"right_gripper": [
"right_gripper"
],
"lower_body": [
"lower_body"
]
}
},
"num_obs_steps": 6,
"use_stepwise_action_norm": true,
"drop_high_level_prob": 1.0,
"use_zh_instruction": false,
"_target_": "g05.data_processor.processor.galaxea_cot_processor.GalaxeaCoTProcessor",
"discrete_action": true,
"num_output_cameras": 18,
"pad_token_id": 0,
"image_token_index": 248056,
"tokenizer_params": {
"pretrained_model_name_or_path": null,
"local_files_only": true,
"token": null
},
"max_text_tokens": 160,
"num_input_cameras": 3,
"camera_size_config": {
"exterior": [
256,
256
],
"wrist_left": [
256,
256
],
"wrist_right": [
256,
256
]
},
"samples_builder": {
"_target_": "g05.data_processor.processor.samples_builder.MixedSamplesBuilder",
"_partial_": true,
"_recursive_": false,
"candidates": [
{
"_target_": "g05.data_processor.processor.samples_builder.HighLevelAtomicTaskCoTBuilder",
"weight": 1.0
},
{
"_target_": "g05.data_processor.processor.samples_builder.SubtaskActionHintCoTBuilder",
"weight": 1.0
},
{
"_target_": "g05.data_processor.processor.samples_builder.AtomicTaskBaseSamplesBuilder",
"weight": 1.0
},
{
"_target_": "g05.data_processor.processor.samples_builder.Trace2DCoTBuilder",
"weight": 1.0
},
{
"_target_": "g05.data_processor.processor.samples_builder.BBoxSubtaskCoTBuilder",
"weight": 1.0
},
{
"_target_": "g05.data_processor.processor.samples_builder.BBoxCoTBuilder",
"weight": 1.0
},
{
"_target_": "g05.data_processor.processor.samples_builder.SubtaskCoTBuilder",
"weight": 2.0
},
{
"_target_": "g05.data_processor.processor.samples_builder.BaseSamplesBuilder",
"weight": 1.0
}
],
"eval_builder": {
"_target_": "g05.data_processor.processor.samples_builder.BaseSamplesBuilder"
}
},
"vlm_input_action_norm_default_mode": null,
"vlm_input_action_norm_exception_mode": null
},
"prompt_template": "<chat_user_prefix><image0_image_!><image1_image_!><image2_image_!><bos>Embodiment: <embodiment_text_!>; Task: <command_text_!_200> State: <proprio_proprio_!>;<chat_user_suffix><chat_assistant_prefix><prompt_text_!>\n<EOC><atomic_task_text>|Action: <EOV><action_action>|<eos>",
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"optimizer_lr": 8e-05,
"optimizer_betas": [
0.9,
0.95
],
"optimizer_weight_decay": 0.01,
"optimizer_grad_clip_norm": 1.0,
"scheduler_warmup_steps": 500,
"recipe_path": null,
"use_language_recipe": false,
"recipe": {
"messages": [
{
"role": "user",
"content": "${task}",
"stream": "low_level",
"target": false,
"if_present": null,
"tool_calls_from": null
},
{
"role": "assistant",
"content": "BBoxJSON: ${bbox}",
"stream": "low_level",
"target": true,
"if_present": "bbox",
"tool_calls_from": null
},
{
"role": "assistant",
"content": "Subtask: ${subtask}",
"stream": "low_level",
"target": true,
"if_present": "subtask",
"tool_calls_from": null
}
],
"bindings": {
"bbox": "emitted_at(t, style=vqa, role=assistant, camera=observation.images.exterior)"
},
"blend": null,
"weight": null,
"route": null
}
}