Download config.json from nvidia/Alpamayo2-Edge: direct link, hf CLI and curl.
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https://huggingface.co/nvidia/Alpamayo2-Edge/resolve/main/config.json
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hf download hf://nvidia/Alpamayo2-Edge/config.json
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curl -L -o config.json https://huggingface.co/nvidia/Alpamayo2-Edge/resolve/main/config.json
8.18 kB
| { | |
| "architectures": [ | |
| "Alpamayo2Edge" | |
| ], | |
| "cotrain_detach_expert_kv": true, | |
| "cotrain_expert_vlm": true, | |
| "dtype": "bfloat16", | |
| "enable_expert": true, | |
| "enable_thinking": false, | |
| "encode_as_video": false, | |
| "expert_config": { | |
| "action_in_proj_cfg": { | |
| "_target_": "alpamayo2_edge.models.action_in_proj.PerWaypointActionInProjV2", | |
| "hidden_size": 512, | |
| "max_freq": 100.0, | |
| "num_enc_layers": 2, | |
| "num_fourier_feats": 20 | |
| }, | |
| "action_out_proj_cfg": { | |
| "_target_": "torch.nn.Linear" | |
| }, | |
| "action_space_cfg": { | |
| "_target_": "alpamayo2_edge.action_space.UnicycleAccelCurvatureCourseActionSpace", | |
| "a_lambda": 0.0001, | |
| "a_ridge": 0.0001, | |
| "accel_bounds": [ | |
| -9.8, | |
| 9.8 | |
| ], | |
| "accel_mean": 0.02902694707164455, | |
| "accel_std": 0.6810426736454882, | |
| "curvature_bounds": [ | |
| -0.33, | |
| 0.33 | |
| ], | |
| "curvature_mean": 0.0002692167976330542, | |
| "curvature_std": 0.026148280660833106, | |
| "dt": 0.1, | |
| "kappa_lambda": 0.0001, | |
| "kappa_ridge": 0.0001, | |
| "n_waypoints": 64, | |
| "slip_gradient": 0.0025, | |
| "theta_lambda": 3e-06, | |
| "theta_ridge": 1e-08, | |
| "v_lambda": 1e-06, | |
| "v_ridge": 0.0001 | |
| }, | |
| "architectures": null, | |
| "chunk_size_feed_forward": 0, | |
| "diffusion_cfg": { | |
| "_target_": "alpamayo2_edge.diffusion.flow_matching.FlowMatching", | |
| "inference_guidance_weight": 3.0, | |
| "int_method": "euler", | |
| "train_ignore_guidance_rate": 0.1, | |
| "train_timestep_sampler": "beta", | |
| "use_classifier_free_guidance": false, | |
| "x_dims": null | |
| }, | |
| "dtype": "bfloat16", | |
| "expert_non_causal_attention": true, | |
| "expert_update_cfg": { | |
| "head_dim": 128, | |
| "hidden_size": 512, | |
| "intermediate_size": 3840, | |
| "num_attention_heads": 16, | |
| "num_hidden_layers": 28, | |
| "num_key_value_heads": 8 | |
| }, | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "is_encoder_decoder": false, | |
| "label2id": { | |
| "LABEL_0": 0, | |
| "LABEL_1": 1 | |
| }, | |
| "llm_config": { | |
| "architectures": null, | |
| "attention_bias": false, | |
| "attention_dropout": 0.0, | |
| "bos_token_id": 1, | |
| "chunk_size_feed_forward": 0, | |
| "dtype": "bfloat16", | |
| "eos_token_id": 11, | |
| "head_dim": 128, | |
| "hidden_act": "relu2", | |
| "hidden_size": 512, | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "initializer_range": 0.02, | |
| "intermediate_size": 3840, | |
| "is_encoder_decoder": false, | |
| "label2id": { | |
| "LABEL_0": 0, | |
| "LABEL_1": 1 | |
| }, | |
| "max_position_embeddings": 131072, | |
| "mlp_bias": false, | |
| "model_type": "cosmos3_edge_text", | |
| "num_attention_heads": 16, | |
| "num_hidden_layers": 28, | |
| "num_key_value_heads": 8, | |
| "output_attentions": false, | |
| "output_hidden_states": false, | |
| "pad_token_id": 0, | |
| "pretraining_tp": 1, | |
| "problem_type": null, | |
| "return_dict": true, | |
| "rms_norm_eps": 1e-05, | |
| "rope_parameters": { | |
| "mrope_section": [ | |
| 24, | |
| 20, | |
| 20 | |
| ], | |
| "rope_theta": 100000000, | |
| "rope_type": "default" | |
| }, | |
| "tie_word_embeddings": false, | |
| "use_cache": true, | |
| "vocab_size": 135168 | |
| }, | |
| "model_type": "alpamayo2_edge_expert", | |
| "output_attentions": false, | |
| "output_hidden_states": false, | |
| "problem_type": null, | |
| "return_dict": true | |
| }, | |
| "frame_label": "relative_time", | |
| "future_traj_tokenizer_cfg": { | |
| "_recursive_": false, | |
| "_target_": "alpamayo2_edge.action_space.discrete_action_space.DiscreteTrajectoryTokenizer", | |
| "action_space_cfg": { | |
| "_target_": "alpamayo2_edge.action_space.UnicycleAccelCurvatureCourseActionSpace", | |
| "a_lambda": 0.0001, | |
| "a_ridge": 0.0001, | |
| "accel_bounds": [ | |
| -9.8, | |
| 9.8 | |
| ], | |
| "accel_mean": 0.02902694707164455, | |
| "accel_std": 0.6810426736454882, | |
| "curvature_bounds": [ | |
| -0.33, | |
| 0.33 | |
| ], | |
| "curvature_mean": 0.0002692167976330542, | |
| "curvature_std": 0.026148280660833106, | |
| "dt": 0.1, | |
| "kappa_lambda": 0.0001, | |
| "kappa_ridge": 0.0001, | |
| "n_waypoints": 64, | |
| "slip_gradient": 0.0025, | |
| "theta_lambda": 3e-06, | |
| "theta_ridge": 1e-08, | |
| "v_lambda": 1e-06, | |
| "v_ridge": 0.0001 | |
| }, | |
| "dims_max": [ | |
| 10, | |
| 10 | |
| ], | |
| "dims_min": [ | |
| -10, | |
| -10 | |
| ], | |
| "num_bins": 3000 | |
| }, | |
| "future_vocab_size": 3000, | |
| "hist_traj_tokenizer_cfg": { | |
| "_target_": "alpamayo2_edge.models.delta_tokenizer.DeltaTrajectoryTokenizer", | |
| "pad_origin_at_beginning": false | |
| }, | |
| "history_vocab_size": 1000, | |
| "include_camera_ids": true, | |
| "loss_weights": { | |
| "future_traj": 1.0, | |
| "others": 1.0 | |
| }, | |
| "max_pixels": 196608, | |
| "min_pixels": 163840, | |
| "model_type": "alpamayo2_edge", | |
| "padding_side": "left", | |
| "token_layout": "camera_ts", | |
| "tokens_per_future_traj": 128, | |
| "tokens_per_history_traj": 57, | |
| "traj_ids": { | |
| "future_end": 135086, | |
| "future_id0": 132072, | |
| "future_pad": 135088, | |
| "future_start": 135084, | |
| "history_end": 135079, | |
| "history_id0": 131072, | |
| "history_pad": 135087, | |
| "history_start": 135077 | |
| }, | |
| "traj_vocab_size": 4000, | |
| "transformers_version": "5.17.0", | |
| "video_max_pixels": null, | |
| "video_min_pixels": null, | |
| "video_pixels_per_frame": false, | |
| "vlm_class": "Cosmos3EdgeForConditionalGeneration", | |
| "vlm_config": { | |
| "architectures": [ | |
| "Cosmos3EdgeForConditionalGeneration" | |
| ], | |
| "chunk_size_feed_forward": 0, | |
| "dtype": "bfloat16", | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "image_token_id": 19, | |
| "is_encoder_decoder": false, | |
| "label2id": { | |
| "LABEL_0": 0, | |
| "LABEL_1": 1 | |
| }, | |
| "model_type": "cosmos3_edge", | |
| "output_attentions": false, | |
| "output_hidden_states": false, | |
| "problem_type": null, | |
| "projector_hidden_size": 11520, | |
| "return_dict": true, | |
| "text_config": { | |
| "architectures": null, | |
| "attention_bias": false, | |
| "attention_dropout": 0.0, | |
| "bos_token_id": 1, | |
| "chunk_size_feed_forward": 0, | |
| "dtype": "bfloat16", | |
| "eos_token_id": 11, | |
| "head_dim": 128, | |
| "hidden_act": "relu2", | |
| "hidden_size": 2048, | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "initializer_range": 0.02, | |
| "intermediate_size": 9216, | |
| "is_encoder_decoder": false, | |
| "label2id": { | |
| "LABEL_0": 0, | |
| "LABEL_1": 1 | |
| }, | |
| "max_position_embeddings": 131072, | |
| "mlp_bias": false, | |
| "model_type": "cosmos3_edge_text", | |
| "num_attention_heads": 16, | |
| "num_hidden_layers": 28, | |
| "num_key_value_heads": 8, | |
| "output_attentions": false, | |
| "output_hidden_states": false, | |
| "pad_token_id": 0, | |
| "pretraining_tp": 1, | |
| "problem_type": null, | |
| "return_dict": true, | |
| "rms_norm_eps": 1e-05, | |
| "rope_parameters": { | |
| "mrope_section": [ | |
| 24, | |
| 20, | |
| 20 | |
| ], | |
| "rope_theta": 100000000, | |
| "rope_type": "default" | |
| }, | |
| "tie_word_embeddings": false, | |
| "use_cache": true, | |
| "vocab_size": 135168 | |
| }, | |
| "tie_word_embeddings": false, | |
| "video_token_id": 18, | |
| "vision_config": { | |
| "architectures": null, | |
| "attention_dropout": 0.0, | |
| "chunk_size_feed_forward": 0, | |
| "dtype": "bfloat16", | |
| "hidden_act": "gelu_pytorch_tanh", | |
| "hidden_size": 1152, | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "intermediate_size": 4304, | |
| "is_encoder_decoder": false, | |
| "label2id": { | |
| "LABEL_0": 0, | |
| "LABEL_1": 1 | |
| }, | |
| "layer_norm_eps": 1e-06, | |
| "model_type": "cosmos3_edge_vision", | |
| "num_attention_heads": 16, | |
| "num_channels": 3, | |
| "num_hidden_layers": 27, | |
| "num_patches": 256, | |
| "output_attentions": false, | |
| "output_hidden_states": false, | |
| "patch_size": 16, | |
| "problem_type": null, | |
| "return_dict": true, | |
| "spatial_merge_size": 2 | |
| }, | |
| "vision_end_token_id": 21, | |
| "vision_start_token_id": 20 | |
| }, | |
| "vlm_name_or_path": null | |
| } | |