config.json
2.9 KB · 118 lines · json Raw
1 {
2 "action_in_proj_cfg": {
3 "_target_": "alpamayo_r1.models.action_in_proj.PerWaypointActionInProjV2",
4 "hidden_size": 512,
5 "max_freq": 100.0,
6 "num_enc_layers": 2,
7 "num_fourier_feats": 20
8 },
9 "action_out_proj_cfg": {
10 "_target_": "torch.nn.Linear"
11 },
12 "action_space_cfg": {
13 "_target_": "alpamayo_r1.action_space.UnicycleAccelCurvatureActionSpace",
14 "a_lambda": 0.0001,
15 "a_ridge": 0.0001,
16 "accel_bounds": [
17 -9.8,
18 9.8
19 ],
20 "accel_mean": 0.02902694707164455,
21 "accel_std": 0.6810426736454882,
22 "curvature_bounds": [
23 -0.33,
24 0.33
25 ],
26 "curvature_mean": 0.0002692167976330542,
27 "curvature_std": 0.026148280660833106,
28 "dt": 0.1,
29 "kappa_lambda": 0.0001,
30 "kappa_ridge": 0.0001,
31 "n_waypoints": 64,
32 "theta_lambda": 1e-06,
33 "theta_ridge": 1e-08,
34 "v_lambda": 1e-06,
35 "v_ridge": 0.0001
36 },
37 "add_special_tokens": true,
38 "architectures": [
39 "AlpamayoR1"
40 ],
41 "attn_implementation": "flash_attention_2",
42 "diffusion_cfg": {
43 "_target_": "alpamayo_r1.diffusion.flow_matching.FlowMatching",
44 "int_method": "euler",
45 "x_dims": "???"
46 },
47 "dtype": "bfloat16",
48 "expert_cfg": {
49 "dtype": "bfloat16",
50 "head_dim": 128,
51 "hidden_size": 2048,
52 "intermediate_size": 8256,
53 "num_attention_heads": 16
54 },
55 "expert_non_causal_attention": true,
56 "hist_traj_tokenizer_cfg": {
57 "_target_": "alpamayo_r1.models.delta_tokenizer.DeltaTrajectoryTokenizer"
58 },
59 "keep_same_dtype": true,
60 "max_pixels": 196608,
61 "min_pixels": 163840,
62 "model_dtype": "bfloat16",
63 "model_type": "alpamayo_r1",
64 "tokens_per_future_traj": 128,
65 "tokens_per_history_traj": 48,
66 "traj_token_ids": {
67 "future": 155685,
68 "future_end": 155683,
69 "future_start": 155681,
70 "history": 155684,
71 "history_end": 155676,
72 "history_start": 155674
73 },
74 "traj_token_start_idx": 151669,
75 "traj_tokenizer_cfg": {
76 "_recursive_": false,
77 "_target_": "alpamayo_r1.action_space.discrete_action_space.DiscreteTrajectoryTokenizer",
78 "action_space_cfg": {
79 "_target_": "alpamayo_r1.action_space.UnicycleAccelCurvatureActionSpace",
80 "a_lambda": 0.0001,
81 "a_ridge": 0.0001,
82 "accel_bounds": [
83 -9.8,
84 9.8
85 ],
86 "accel_mean": 0.02902694707164455,
87 "accel_std": 0.6810426736454882,
88 "curvature_bounds": [
89 -0.33,
90 0.33
91 ],
92 "curvature_mean": 0.0002692167976330542,
93 "curvature_std": 0.026148280660833106,
94 "dt": 0.1,
95 "kappa_lambda": 0.0001,
96 "kappa_ridge": 0.0001,
97 "n_waypoints": 64,
98 "theta_lambda": 1e-06,
99 "theta_ridge": 1e-08,
100 "v_lambda": 1e-06,
101 "v_ridge": 0.0001
102 },
103 "dims_max": [
104 10,
105 10
106 ],
107 "dims_min": [
108 -10,
109 -10
110 ],
111 "num_bins": 3000
112 },
113 "traj_vocab_size": 4000,
114 "transformers_version": "4.57.1",
115 "vlm_backend": "qwenvl3",
116 "vocab_size": 155697
117 }
118