SpatialForcing-VLN-v7 / config.json
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{
"architectures": [
"Qwen3_5ForConditionalGenerationWithSpatialForcing"
],
"depth_gradient_scales": [
1,
2,
4,
8
],
"depth_loss_type": "geo_depth",
"depth_loss_weight": 0.05,
"depth_outlier_keep_ratio": 0.98,
"depth_student_layers": [
7,
16,
24,
32
],
"depth_supervision_enabled": false,
"depth_use_teacher_confidence": false,
"dtype": "bfloat16",
"eos_token_id": 248046,
"heading_loss_weight": 0.1,
"heading_projection_dim": 512,
"heading_supervision_enabled": true,
"heading_turn_angle_deg": 15.0,
"image_token_id": 248056,
"model_type": "qwen3_5",
"pad_token_id": 248044,
"progress_loss_type": "bce_logits",
"progress_loss_weight": 0.1,
"progress_projection_dim": 512,
"progress_supervision_enabled": true,
"progress_target_convention": "completed_before_current",
"progress_target_type": "expert_forward_fraction",
"sf_layer_weights": [
0.3333333333333333,
0.3333333333333333,
0.3333333333333333
],
"sf_loss_weight": 0.3,
"sf_multiframe_teacher": false,
"sf_multilayer_enabled": true,
"sf_projector_hidden_dim": 4096,
"sf_student_layer": 24,
"sf_student_layers": [
8,
16,
24
],
"sf_teacher_dim": 2048,
"sf_teacher_layer": 23,
"sf_teacher_layers": [
11,
17,
23
],
"sf_use_vggt_pe": true,
"sf_verify_invariants": true,
"spatial_forcing_enabled": true,
"spatial_teacher_model_path": "facebook/VGGT-1B",
"text_config": {
"attention_bias": false,
"attention_dropout": 0.0,
"attn_output_gate": true,
"bos_token_id": null,
"dtype": "bfloat16",
"eos_token_id": 248044,
"full_attention_interval": 4,
"head_dim": 256,
"hidden_act": "silu",
"hidden_size": 2560,
"initializer_range": 0.02,
"intermediate_size": 9216,
"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_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": 32,
"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": 16,
"num_hidden_layers": 32,
"num_key_value_heads": 4,
"pad_token_id": null,
"partial_rotary_factor": 0.25,
"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": false,
"vocab_size": 248320
},
"tie_word_embeddings": true,
"transformers_version": "5.3.0",
"use_cache": true,
"use_geometry_encoder": false,
"use_geometry_fusion": false,
"video_token_id": 248057,
"vision_config": {
"deepstack_visual_indexes": [],
"depth": 24,
"dtype": "bfloat16",
"hidden_act": "gelu_pytorch_tanh",
"hidden_size": 1024,
"in_channels": 3,
"initializer_range": 0.02,
"intermediate_size": 4096,
"model_type": "qwen3_5",
"num_heads": 16,
"num_position_embeddings": 2304,
"out_hidden_size": 2560,
"patch_size": 16,
"spatial_merge_size": 2,
"temporal_patch_size": 2
},
"vision_end_token_id": 248054,
"vision_start_token_id": 248053
}