Download config.json from twanghcmut/bridgequant-robotwin-76m: direct link, hf CLI and curl.
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- Download file 5.43 kB
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https://huggingface.co/twanghcmut/bridgequant-robotwin-76m/resolve/main/config.json
- Command line
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hf download hf://twanghcmut/bridgequant-robotwin-76m/config.json
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curl -L -o config.json https://huggingface.co/twanghcmut/bridgequant-robotwin-76m/resolve/main/config.json
5.43 kB
| { | |
| "checkpoint": "", | |
| "device": "cuda:0", | |
| "init_mode": "scratch", | |
| "base_checkpoint": null, | |
| "state_dim": 14, | |
| "action_dim": 14, | |
| "n_cameras": 3, | |
| "norm_stats_checkpoint": null, | |
| "n_embodiments": 1, | |
| "max_state_dim": 32, | |
| "max_action_dim": 32, | |
| "prefix_format": "raw", | |
| "model": { | |
| "type": "bridgequant_async_vla" | |
| }, | |
| "backbone": { | |
| "type": "tiny_vl", | |
| "model_name": "prajjwal1/bert-mini", | |
| "num_layers": 4, | |
| "train_mode": "finetune", | |
| "language_first": false, | |
| "kwargs": { | |
| "load_weights": true, | |
| "vision_model": "facebook/dinov3-vits16-pretrain-lvd1689m", | |
| "hidden_size": 512, | |
| "image_size": 256, | |
| "n_cameras": 3, | |
| "num_heads": 8, | |
| "mlp_ratio": 4.0, | |
| "mask_mode": "m1", | |
| "freeze_text": true | |
| } | |
| }, | |
| "expert": { | |
| "type": "bridgequantasyncvla_expert", | |
| "hidden_size": 512, | |
| "depth": 6, | |
| "num_heads": 8, | |
| "mlp_ratio": 4.0, | |
| "moh": { | |
| "enabled": false, | |
| "horizons": [], | |
| "stride": 0, | |
| "gate_temperature": 1.0, | |
| "ind_weight": 1.0, | |
| "bal_weight": 0.001, | |
| "ind_reduction": "sum" | |
| }, | |
| "kwargs": { | |
| "chunk_index_features": true | |
| } | |
| }, | |
| "action_head": { | |
| "type": "bridge_flow_matching", | |
| "action_horizon": 16, | |
| "n_action_steps": 8, | |
| "num_steps": 1, | |
| "gripper_bottleneck": false, | |
| "bottleneck_residual_lambda": 0.01, | |
| "bottleneck_residual_init_alpha": 0.01, | |
| "kwargs": {} | |
| }, | |
| "proprio": { | |
| "proprio_to_vlm": false, | |
| "proprio_to_policy": true, | |
| "state_dropout": 0.0, | |
| "cycle_count_in_state": false, | |
| "kwargs": {} | |
| }, | |
| "temporal": { | |
| "n_obs_steps": 1, | |
| "enabled": false, | |
| "type": "retnet", | |
| "window_size": 1, | |
| "context_refresh_every": 8, | |
| "context_validity": true, | |
| "memory_age_aug": 0.0, | |
| "retention_chunk_size": 0, | |
| "decay_min": 0.03, | |
| "decay_max": 1.0, | |
| "burnin_steps": 0, | |
| "history_noise_std": 0.0, | |
| "history_noise_rho": 0.0, | |
| "history_source": "executed_action", | |
| "context_refresh_choices": null, | |
| "drift_loss_weight": 0.0, | |
| "reinjection_mode": "additive", | |
| "refresh_proprio_delta_threshold": null, | |
| "refresh_action_magnitude_threshold": null, | |
| "refresh_frame_diff_threshold": null, | |
| "refresh_instruction_change": true, | |
| "d_model": 256, | |
| "num_heads": 4, | |
| "control_dt": 0.0667, | |
| "kwargs": {}, | |
| "stream_units": 1, | |
| "stream_stride": 5, | |
| "stream_stride_jitter": 2 | |
| }, | |
| "bridge": { | |
| "enabled": true, | |
| "num_queries": 96, | |
| "dim": 512, | |
| "tap_layers": [ | |
| 0, | |
| 1, | |
| 2, | |
| 3 | |
| ], | |
| "rank": 256, | |
| "min_grounding_confidence": null, | |
| "gate_init": 0.3, | |
| "z_bridge_pos_embed": true, | |
| "zero_z_bridge": false, | |
| "kwargs": {} | |
| }, | |
| "roles": { | |
| "entity": 24, | |
| "goal": 24, | |
| "embodiment": 24, | |
| "progress": 12, | |
| "global_context": 12, | |
| "alignment": 0, | |
| "alignment_asymmetric_injection": false, | |
| "alignment_asymmetric_scale": 1.0, | |
| "plan_film": false, | |
| "plan_film_scale": 1.0, | |
| "plan_film_state": false, | |
| "lang_kv_to_expert": false, | |
| "mem_kv_to_expert": false, | |
| "masked_groups": [], | |
| "routing": null, | |
| "routing_rows": null, | |
| "spatial_binding_weight": 0.0, | |
| "spatial_binding_hidden": 256, | |
| "spatial_binding_huber_delta": null, | |
| "alignment_offset_weight": 0.0, | |
| "alignment_source_group": null, | |
| "alignment_margin_weight": 0.0, | |
| "alignment_margin_epsilon_cm": 2.5, | |
| "alignment_huber_delta": 0.1, | |
| "alignment_hidden": 256, | |
| "alignment_phase_beta": 2.0, | |
| "alignment_phase_sigma": 2.0, | |
| "alignment_obj_window_frames": null, | |
| "alignment_stop_gradient": false, | |
| "competitive_read_groups": [], | |
| "attn_diversity_weight": 0.0, | |
| "attn_entropy_weight": 0.0, | |
| "attn_shaping_groups": [] | |
| }, | |
| "aux_losses": [ | |
| { | |
| "type": "smoothness", | |
| "weight": 0.05, | |
| "kwargs": {} | |
| } | |
| ], | |
| "loss": { | |
| "zero_padded_noise": true, | |
| "mask_padded_dims": true, | |
| "first_action_weight": 1.0, | |
| "direction_commit_weight": 0.0, | |
| "direction_commit_tau": 0.15, | |
| "direction_commit_mode": "hard", | |
| "gripper_bce_weight": 0.0, | |
| "gripper_bce_logit_scale": 4.0, | |
| "task_balance_alpha": 0.25, | |
| "task_balance_mode": "excess", | |
| "task_balance_ema": 0.99, | |
| "task_balance_clip": 4.0, | |
| "phase_transition_weight": 3.0, | |
| "phase_transition_radius": 2, | |
| "aux_exclude_contact_window": false | |
| }, | |
| "anchor": { | |
| "enabled": false, | |
| "layers": [ | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11 | |
| ], | |
| "span": "lang", | |
| "weight": 0.05 | |
| }, | |
| "embodiment": { | |
| "name": "aloha_agilex", | |
| "embodiment_id": 0, | |
| "action_names": [ | |
| "left_joint_0", | |
| "left_joint_1", | |
| "left_joint_2", | |
| "left_joint_3", | |
| "left_joint_4", | |
| "left_joint_5", | |
| "left_gripper", | |
| "right_joint_0", | |
| "right_joint_1", | |
| "right_joint_2", | |
| "right_joint_3", | |
| "right_joint_4", | |
| "right_joint_5", | |
| "right_gripper" | |
| ], | |
| "xyz_dims": [], | |
| "rot_dims": [], | |
| "gripper_dim": null, | |
| "relative_action_dims": [ | |
| 0, | |
| 1, | |
| 2, | |
| 3, | |
| 4, | |
| 5, | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12 | |
| ], | |
| "gripper_policy_open_value": 1.0, | |
| "gripper_policy_close_value": 0.0, | |
| "gripper_env_open_value": -1.0, | |
| "gripper_env_close_value": 1.0 | |
| }, | |
| "model_type": "bridgequant_async_vla", | |
| "bridgequant_vla_format_version": 1, | |
| "step": 80000 | |
| } |