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ROBOTIS/GR00T-N1.5_PackageClassification_model

sourceHugging Faceupdated 10mo agoView on Hugging Face
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config.json65 linesDownload Raw Back to root
1{2  "action_dim": 64,3  "action_head_cfg": {4    "action_dim": 64,5    "action_horizon": 16,6    "add_pos_embed": true,7    "backbone_embedding_dim": 2048,8    "diffusion_model_cfg": {9      "attention_head_dim": 48,10      "cross_attention_dim": 2048,11      "dropout": 0.2,12      "final_dropout": true,13      "interleave_self_attention": true,14      "norm_type": "ada_norm",15      "num_attention_heads": 32,16      "num_layers": 16,17      "output_dim": 1024,18      "positional_embeddings": null19    },20    "hidden_size": 1024,21    "input_embedding_dim": 1536,22    "max_action_dim": 32,23    "max_state_dim": 64,24    "model_dtype": "float32",25    "noise_beta_alpha": 1.5,26    "noise_beta_beta": 1.0,27    "noise_s": 0.999,28    "num_inference_timesteps": 4,29    "num_target_vision_tokens": 32,30    "num_timestep_buckets": 1000,31    "tune_diffusion_model": true,32    "tune_projector": true,33    "use_vlln": true,34    "vl_self_attention_cfg": {35      "attention_head_dim": 64,36      "dropout": 0.2,37      "final_dropout": true,38      "num_attention_heads": 32,39      "num_layers": 4,40      "positional_embeddings": null41    }42  },43  "action_horizon": 16,44  "architectures": [45    "GR00T_N1_5"46  ],47  "attn_implementation": null,48  "backbone_cfg": {49    "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",50    "load_bf16": false,51    "project_to_dim": null,52    "reproject_vision": false,53    "select_layer": 12,54    "tune_llm": false,55    "tune_visual": true,56    "use_flash_attention": true57  },58  "compute_dtype": "bfloat16",59  "hidden_size": 2048,60  "model_dtype": "float32",61  "model_type": "gr00t_n1_5",62  "torch_dtype": "bfloat16",63  "transformers_version": "4.51.3"64}65