| { |
| "architectures": [ |
| "MiniCPMRobotTrackModel" |
| ], |
| "auto_map": { |
| "AutoConfig": "configuration_robottrack.MiniCPMRobotTrackConfig", |
| "AutoModel": "modeling_robottrack.MiniCPMRobotTrackModel" |
| }, |
| "model_type": "minicpm_robottrack", |
| "model_name": "MiniCPM-RobotTrack", |
| "backbone_name": "openbmb/MiniCPM4-0.5B", |
| "backbone_config": { |
| "bos_token_id": 1, |
| "eos_token_id": [ |
| 2, |
| 73440 |
| ], |
| "hidden_act": "silu", |
| "hidden_size": 1024, |
| "initializer_range": 0.1, |
| "intermediate_size": 4096, |
| "max_position_embeddings": 32768, |
| "num_attention_heads": 16, |
| "num_hidden_layers": 24, |
| "num_key_value_heads": 2, |
| "rms_norm_eps": 1e-05, |
| "rope_scaling": { |
| "rope_type": "longrope", |
| "long_factor": [ |
| 1.0004360675811768, |
| 1.0668443441390991, |
| 1.1631425619125366, |
| 1.3025742769241333, |
| 1.5040205717086792, |
| 1.7941505908966064, |
| 2.2101221084594727, |
| 2.802666664123535, |
| 3.6389970779418945, |
| 4.804192543029785, |
| 6.39855432510376, |
| 8.527148246765137, |
| 11.277542114257812, |
| 14.684998512268066, |
| 18.69317054748535, |
| 23.13019371032715, |
| 27.72362518310547, |
| 32.1606559753418, |
| 36.168827056884766, |
| 39.57627868652344, |
| 42.32667541503906, |
| 44.45526885986328, |
| 46.04962921142578, |
| 47.21482849121094, |
| 48.05115509033203, |
| 48.64370346069336, |
| 49.05967712402344, |
| 49.34980392456055, |
| 49.551246643066406, |
| 49.69068145751953, |
| 49.78697967529297, |
| 49.85338592529297 |
| ], |
| "short_factor": [ |
| 1.0004360675811768, |
| 1.0668443441390991, |
| 1.1631425619125366, |
| 1.3025742769241333, |
| 1.5040205717086792, |
| 1.7941505908966064, |
| 2.2101221084594727, |
| 2.802666664123535, |
| 3.6389970779418945, |
| 4.804192543029785, |
| 6.39855432510376, |
| 8.527148246765137, |
| 11.277542114257812, |
| 14.684998512268066, |
| 18.69317054748535, |
| 23.13019371032715, |
| 27.72362518310547, |
| 32.1606559753418, |
| 36.168827056884766, |
| 39.57627868652344, |
| 42.32667541503906, |
| 44.45526885986328, |
| 46.04962921142578, |
| 47.21482849121094, |
| 48.05115509033203, |
| 48.64370346069336, |
| 49.05967712402344, |
| 49.34980392456055, |
| 49.551246643066406, |
| 49.69068145751953, |
| 49.78697967529297, |
| 49.85338592529297 |
| ], |
| "original_max_position_embeddings": 32768 |
| }, |
| "use_cache": false, |
| "vocab_size": 73448, |
| "scale_emb": 12, |
| "dim_model_base": 256, |
| "scale_depth": 1.4 |
| }, |
| "backbone_dtype": "bfloat16", |
| "vision_feature_dim": 1536, |
| "history_frames": 31, |
| "coarse_tokens_per_frame": 4, |
| "fine_tokens_current_frame": 64, |
| "num_waypoints": 8, |
| "action_dim": 3, |
| "max_text_tokens": 128, |
| "max_time_steps": 4096, |
| "trajectory_dropout": 0.4, |
| "xy_scale": 2.0, |
| "use_tanh_actions": true, |
| "transformers_version": "4.56.2" |
| } |
|
|
