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minicpm-robot-track

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minicpm-robot-track
File size: 2,269 Bytes
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{
  "action_dim": 3,
  "architectures": [
    "MiniCPMRobotTrackModel"
  ],
  "auto_map": {
    "AutoConfig": "configuration_robottrack.MiniCPMRobotTrackConfig",
    "AutoModel": "modeling_robottrack.MiniCPMRobotTrackModel"
  },
  "backbone_config": {
    "bos_token_id": 1,
    "dim_model_base": 32,
    "eos_token_id": [
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    "hidden_act": "silu",
    "hidden_size": 32,
    "initializer_range": 0.1,
    "intermediate_size": 64,
    "max_position_embeddings": 128,
    "num_attention_heads": 1,
    "num_hidden_layers": 4,
    "num_key_value_heads": 1,
    "rms_norm_eps": 1e-05,
    "rope_scaling": {
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      "original_max_position_embeddings": 128,
      "rope_theta": 10000.0,
      "rope_type": "longrope",
      "short_factor": [
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    },
    "scale_depth": 1.4,
    "scale_emb": 12,
    "use_cache": false,
    "vocab_size": 73448
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  "backbone_dtype": "bfloat16",
  "backbone_name": "openbmb/MiniCPM4-0.5B",
  "coarse_tokens_per_frame": 4,
  "dtype": "float32",
  "fine_tokens_current_frame": 64,
  "history_frames": 31,
  "max_text_tokens": 128,
  "max_time_steps": 128,
  "model_name": "MiniCPM-RobotTrack",
  "model_type": "minicpm_robottrack",
  "num_waypoints": 8,
  "trajectory_dropout": 0.4,
  "transformers_version": "5.20.2",
  "use_tanh_actions": true,
  "vision_feature_dim": 1536,
  "xy_scale": 2.0
}