Robotics
Safetensors
gr00t_n1
GR00T-N1-2B / config.json
lm
Initial commit
32e1fd2
{
"action_dim": 32,
"action_head_cfg": {
"action_dim": 32,
"action_horizon": 16,
"add_pos_embed": true,
"diffusion_model_cfg": {
"attention_head_dim": 48,
"dropout": 0.2,
"final_dropout": true,
"interleave_self_attention": true,
"norm_type": "ada_norm",
"num_attention_heads": 32,
"num_layers": 16,
"output_dim": 1024,
"positional_embeddings": null
},
"freeze_decode_layer": false,
"hidden_size": 1024,
"input_embedding_dim": 1536,
"load_pretrained_det_decode_layer_path": null,
"max_action_dim": 32,
"max_state_dim": 64,
"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,
"tune_diffusion_model": true,
"tune_projector": true
},
"action_horizon": 16,
"architectures": [
"GR00T_N1"
],
"attn_implementation": null,
"backbone_cfg": {
"allow_reshape_visual": true,
"load_pretrained_det_eagle_path": null,
"model_name": "$GR00T_BACKBONE_PATH/eagle2_hg_model",
"processor_cfg": {
"max_input_tiles": 1,
"model_path": "$GR00T_BACKBONE_PATH/eagle2_hg_model",
"model_spec": {
"num_image_token": 64,
"template": "qwen2-chat"
}
},
"projector_dim": 2048,
"remove_llm": false,
"reproject_vision": false,
"scale_image_resolution": 1,
"select_layer": 12,
"tune_llm": false,
"tune_visual": true
},
"hidden_size": 1536,
"model_dtype": "float32",
"model_type": "gr00t_n1",
"torch_dtype": "bfloat16",
"transformers_version": "4.45.2"
}