experiment_cfg/final_model_config.json

{
  "model_type": "RLDX-1",
  "model_dtype": "bfloat16",
  "model_name": "/sjw_alinlab3/home/junhyeong/models/RLDX-1-VLM",
  "backbone_model_type": "vtc_qwen3_vl",
  "model_revision": null,
  "tune_top_llm_layers": 0,
  "backbone_embedding_dim": 4096,
  "tune_llm": false,
  "tune_visual": false,
  "select_layer": 18,
  "reproject_vision": false,
  "use_flash_attention": true,
  "load_bf16": true,
  "backbone_trainable_params_fp32": true,
  "freeze_cog_tokens": false,
  "image_max_area": 65536,
  "image_resize_m": 32,
  "apply_sincos_state_encoding": false,
  "use_relative_action": true,
  "use_percentiles": true,
  "conversation_image_first": false,
  "max_state_dim": 64,
  "max_action_dim": 64,
  "action_horizon": 16,
  "hidden_size": 1024,
  "input_embedding_dim": 1536,
  "general_embodiment_train_ratio": 0,
  "add_pos_embed": true,
  "attn_dropout": 0.2,
  "use_vlln": false,
  "max_seq_len": 1024,
  "n_cog_tokens": 64,
  "diffusion_model_cfg": {
    "action_model_max_seq_len": 512,
    "attention_head_dim": 64,
    "depth_multi_stream": 4,
    "depth_single_stream": 8,
    "dropout": 0.2,
    "final_dropout": true,
    "num_attention_heads": 24,
    "output_dim": 1024,
    "positional_embeddings": "rope_sa_only",
    "pre_norm": "layer_norm",
    "qk_norm": "rms_norm",
    "rope_theta": 10000.0,
    "temb_type": "input_token",
    "use_swiglu": true,
    "sa_dim": 1536,
    "vl_dim": 4096,
    "use_physics": false,
    "physics_dim": 0
  },
  "num_inference_timesteps": 4,
  "noise_beta_alpha": 1.5,
  "noise_beta_beta": 1.0,
  "noise_s": 0.999,
  "num_timestep_buckets": 1000,
  "tune_projector": true,
  "tune_diffusion_model": true,
  "tune_vlln": true,
  "action_model_use_lora": false,
  "action_model_lora_rank": 16,
  "action_model_lora_alpha": 32,
  "action_model_lora_dropout": 0.0,
  "action_model_lora_target_modules": [
    "vl_qkv",
    "vl_proj",
    "sa_qkv",
    "sa_proj",
    "p_qkv",
    "p_proj",
    "linear1",
    "linear2"
  ],
  "backbone_use_lora": false,
  "backbone_lora_rank": 16,
  "backbone_lora_alpha": 32,
  "backbone_lora_dropout": 0.0,
  "backbone_lora_num_layers": -1,
  "backbone_lora_target_modules": [
    "q_proj",
    "k_proj",
    "v_proj",
    "o_proj",
    "gate_proj",
    "up_proj",
    "down_proj"
  ],
  "state_dropout_prob": 0.5,
  "state_additive_noise_scale": 0.0,
  "rtc_training_max_delay": 0,
  "rtc_inference_mode": "none",
  "rtc_inference_delay": 0,
  "rtc_inference_exec_horizon": 0,
  "rtc_jacobian_steps_only": 3,
  "use_memory": false,
  "memory_length": 4,
  "memory_n_cog_tokens": null,
  "concat_memory": false,
  "memory_dropout_prob": 0.0,
  "memory_stride": 16,
  "memory_cfg": {
    "hidden_size": 4096,
    "intermediate_size": 16384,
    "max_position_embeddings": 32,
    "num_attention_heads": 16,
    "num_hidden_layers": 2,
    "num_key_value_heads": 16,
    "rms_norm_eps": 1e-05,
    "use_causal_attn": true,
    "use_rope": true
  },
  "use_motion": false,
  "motion_insert_layer": 9,
  "motion_d_hid": 512,
  "motion_window": [
    5,
    9,
    9
  ],
  "motion_ext_chnls": [
    256
  ],
  "motion_int_chnls": [
    256,
    256,
    512
  ],
  "motion_corr_func": "cosine",
  "motion_n_encoders": 1,
  "motion_use_layerscale": false,
  "motion_layerscale_init": 1e-05,
  "motion_use_layernorm": false,
  "motion_use_syncbn": false,
  "motion_injection_point": "vision_encoder",
  "motion_pool_type": "avg",
  "motion_drop": true,
  "motion_gradient_check": false,
  "motion_int_mode": "lite",
  "use_video": true,
  "video_length": 1,
  "video_stride": 2,
  "use_physics": false,
  "physics_keys": [],
  "physics_dims": [],
  "physics_loss_weight": 0.1,
  "allow_missing_physics": false,
  "physics_delta_indices": null,
  "physics_use_flow_matching": true,
  "physics_dropout_prob": 0.0,
  "use_finger_latent": false,
  "finger_latent_dim": 48,
  "finger_latent_mode": "separate",
  "finger_loss_weight": 1.0,
  "finger_latent_alignment_npz": "",
  "finger_latent_fingertip_norm_npz": "",
  "finger_latent_wrist_delta_stats_npz": "",
  "finger_latent_human_emb_id": 34,
  "max_num_embodiments": 36
}