| { |
| "alpha_wheeled": [ |
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| 0.433, |
| 2.09 |
| ], |
| "alpha_xy": null, |
| "architectures": [ |
| "VlxgoForWaypoint" |
| ], |
| "auto_map": { |
| "AutoConfig": "configuration_vlxgo.VlxgoConfig", |
| "AutoModel": "modeling_vlxgo.VlxgoForWaypoint" |
| }, |
| "dtype": "float32", |
| "embodiment": "wheeled", |
| "history": 31, |
| "llm_config": { |
| "attention_bias": false, |
| "attention_dropout": 0.0, |
| "bos_token_id": 151643, |
| "eos_token_id": 151645, |
| "head_dim": 128, |
| "hidden_act": "silu", |
| "hidden_size": 1024, |
| "initializer_range": 0.02, |
| "intermediate_size": 3072, |
| "max_position_embeddings": 40960, |
| "max_window_layers": 28, |
| "model_type": "qwen3", |
| "num_attention_heads": 16, |
| "num_hidden_layers": 28, |
| "num_key_value_heads": 8, |
| "rms_norm_eps": 1e-06, |
| "rope_scaling": null, |
| "rope_theta": 1000000, |
| "sliding_window": null, |
| "tie_word_embeddings": true, |
| "torch_dtype": "bfloat16", |
| "use_cache": true, |
| "use_sliding_window": false, |
| "vocab_size": 151936 |
| }, |
| "max_time": 4096, |
| "model_type": "vlxgo", |
| "n_waypoints": 8, |
| "tie_word_embeddings": false, |
| "use_angle_tvi": false, |
| "use_indicator": false, |
| "use_tanh_actions": false, |
| "vision_feat_dim": 1536 |
| } |
|
|
