File size: 2,735 Bytes
3fa7e46 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 |
{
"_name_or_path": "/mnt/amlfs-01/home/seonghyeony/checkpoints/groot_s_idm_24P_300",
"action_dim": 32,
"action_head_cfg": {
"_convert_": "object",
"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDM",
"config": {
"_recursive_": false,
"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDMConfig",
"action_dim": 32,
"action_horizon": 16,
"add_pos_embed": true,
"add_seperator_token": true,
"add_view_embed": true,
"backbone_features_projector_cfg": null,
"diffusion_model_cfg": {
"_target_": "gr00t.model.action_head.cross_attention_dit.DiT",
"attention_head_dim": 64,
"dropout": 0.2,
"final_dropout": true,
"interleave_self_attention": true,
"norm_type": "ada_norm",
"num_attention_heads": 16,
"num_layers": 8,
"output_dim": 1024,
"positional_embeddings": null
},
"hidden_size": 1024,
"max_action_dim": 32,
"max_num_views": 6,
"max_state_dim": 44,
"mm_projector_cfg": {
"_convert_": "object",
"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjector",
"config": {
"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjectorConfig",
"hidden_size": 1024,
"mm_hidden_size": 1024,
"mm_projector_type": "mlp_doubledownsample"
}
},
"mm_vision_select_layer": -2,
"model_dtype": "float32",
"noise_beta_alpha": 1.5,
"noise_beta_beta": 1.0,
"noise_s": 0.999,
"num_inference_timesteps": 16,
"num_timestep_buckets": 1000,
"siglip_hidden_size": 1024,
"siglip_model_cfg": {
"_convert_": "object",
"_target_": "gr00t.model.action_head.siglip.SiglipModel.from_pretrained",
"pretrained_model_name_or_path": "google/siglip2-large-patch16-256"
},
"tune_vision_tower": true,
"vl_self_attention_cfg": {
"_target_": "gr00t.model.action_head.cross_attention_dit.SelfAttentionTransformer",
"attention_head_dim": 64,
"dropout": 0.2,
"final_dropout": true,
"num_attention_heads": 16,
"num_layers": 4,
"positional_embeddings": null
}
}
},
"action_horizon": 16,
"architectures": [
"DualBrain"
],
"backbone_cfg": {
"_target_": "gr00t.model.backbone.IdentityBackbone"
},
"hidden_size": 0,
"model_dtype": "float32",
"model_type": "dual_brain",
"resume_path": "/mnt/amlfs-01/home/seonghyeony/checkpoints/groot_s_idm_24P_300",
"torch_dtype": "bfloat16",
"transformers_version": "4.45.2"
}
|