experiment_cfg/final_model_config.json
| 1 | { |
| 2 | "model_type": "Gr00tN1d7", |
| 3 | "model_dtype": "bfloat16", |
| 4 | "model_name": "nvidia/Cosmos-Reason2-2B", |
| 5 | "backbone_model_type": "qwen", |
| 6 | "model_revision": null, |
| 7 | "tune_top_llm_layers": 4, |
| 8 | "backbone_embedding_dim": 2048, |
| 9 | "tune_llm": true, |
| 10 | "tune_visual": true, |
| 11 | "select_layer": 16, |
| 12 | "reproject_vision": false, |
| 13 | "use_flash_attention": true, |
| 14 | "load_bf16": true, |
| 15 | "collator_overwrite_image_inputs": false, |
| 16 | "eagle_collator": false, |
| 17 | "backbone_trainable_params_fp32": true, |
| 18 | "gemma_collator": false, |
| 19 | "apply_sincos_state_encoding": true, |
| 20 | "use_percentiles": false, |
| 21 | "use_relative_action": true, |
| 22 | "max_state_dim": 128, |
| 23 | "max_action_dim": 128, |
| 24 | "action_horizon": 50, |
| 25 | "hidden_size": 1024, |
| 26 | "input_embedding_dim": 1536, |
| 27 | "state_history_length": 1, |
| 28 | "add_pos_embed": true, |
| 29 | "attn_dropout": 0.2, |
| 30 | "use_vlln": true, |
| 31 | "max_seq_len": 1024, |
| 32 | "use_alternate_vl_dit": true, |
| 33 | "attend_text_every_n_blocks": 2, |
| 34 | "diffusion_model_cfg": { |
| 35 | "positional_embeddings": null, |
| 36 | "num_layers": 32, |
| 37 | "num_attention_heads": 32, |
| 38 | "attention_head_dim": 48, |
| 39 | "norm_type": "ada_norm", |
| 40 | "dropout": 0.2, |
| 41 | "final_dropout": true, |
| 42 | "output_dim": 1024, |
| 43 | "interleave_self_attention": true |
| 44 | }, |
| 45 | "num_inference_timesteps": 4, |
| 46 | "noise_beta_alpha": 1.5, |
| 47 | "noise_beta_beta": 1.0, |
| 48 | "noise_s": 0.999, |
| 49 | "num_timestep_buckets": 1000, |
| 50 | "tune_projector": true, |
| 51 | "tune_diffusion_model": true, |
| 52 | "tune_vlln": true, |
| 53 | "state_dropout_prob": 0.0, |
| 54 | "state_additive_noise_scale": 0.0, |
| 55 | "max_num_embodiments": 32 |
| 56 | } |
| 57 | |