{ "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 }