config.json
1.8 KB · 70 lines · json Raw
1 {
2 "action_horizon": 50,
3 "add_pos_embed": true,
4 "apply_sincos_state_encoding": true,
5 "architectures": [
6 "Gr00tN1d6"
7 ],
8 "attn_dropout": 0.2,
9 "attn_implementation": null,
10 "backbone_embedding_dim": 2048,
11 "backbone_model_type": "eagle",
12 "backbone_trainable_params_fp32": true,
13 "collator_overwrite_image_inputs": false,
14 "color_jitter_params": {
15 "brightness": 0.1,
16 "contrast": 0.1,
17 "hue": 0.1,
18 "saturation": 0.1
19 },
20 "crop_fraction": 0.95,
21 "diffusion_model_cfg": {
22 "attention_head_dim": 48,
23 "dropout": 0.2,
24 "final_dropout": true,
25 "interleave_self_attention": true,
26 "norm_type": "ada_norm",
27 "num_attention_heads": 32,
28 "num_layers": 32,
29 "output_dim": 1024,
30 "positional_embeddings": null
31 },
32 "eagle_collator": true,
33 "formalize_language": true,
34 "gemma_collator": false,
35 "hidden_size": 1024,
36 "image_crop_size": null,
37 "image_target_size": null,
38 "input_embedding_dim": 1536,
39 "load_bf16": true,
40 "max_action_dim": 128,
41 "max_num_embodiments": 32,
42 "max_seq_len": 1024,
43 "max_state_dim": 128,
44 "model_dtype": "bfloat16",
45 "model_name": "nvidia/Eagle-Block2A-2B-v2",
46 "model_type": "Gr00tN1d6",
47 "noise_beta_alpha": 1.5,
48 "noise_beta_beta": 1.0,
49 "noise_s": 0.999,
50 "num_inference_timesteps": 4,
51 "num_timestep_buckets": 1000,
52 "random_rotation_angle": null,
53 "reproject_vision": false,
54 "select_layer": 16,
55 "shortest_image_edge": 256,
56 "state_dropout_prob": 0.0,
57 "torch_dtype": "bfloat16",
58 "transformers_version": "4.51.3",
59 "tune_diffusion_model": true,
60 "tune_llm": false,
61 "tune_projector": true,
62 "tune_top_llm_layers": 4,
63 "tune_visual": false,
64 "use_albumentations_transforms": true,
65 "use_alternate_vl_dit": true,
66 "use_flash_attention": true,
67 "use_relative_action": true,
68 "use_vlln": true
69 }
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