config.json

{
  "action_model_lora_alpha": 32,
  "action_model_lora_dropout": 0.0,
  "action_model_lora_rank": 16,
  "action_model_lora_target_modules": [
    "vl_qkv",
    "vl_proj",
    "sa_qkv",
    "sa_proj",
    "p_qkv",
    "p_proj",
    "linear1",
    "linear2"
  ],
  "action_model_use_lora": false,
  "action_horizon": 40,
  "allow_missing_physics": true,
  "architectures": [
    "RLDX"
  ],
  "backbone_model_type": "vtc_qwen3_vl",
  "backbone_trainable_params_fp32": true,
  "color_jitter_params": {
    "brightness": 0.3,
    "contrast": 0.4,
    "hue": 0.08,
    "saturation": 0.5
  },
  "concat_memory": true,
  "conversation_image_first": false,
  "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,
    "physics_dim": 48,
    "positional_embeddings": "rope_sa_only",
    "pre_norm": "layer_norm",
    "qk_norm": "rms_norm",
    "rope_theta": 10000.0,
    "sa_dim": 1536,
    "temb_type": "input_token",
    "use_physics": true,
    "use_swiglu": true,
    "vl_dim": 4096
  },
  "dtype": "bfloat16",
  "freeze_cog_tokens": false,
  "load_bf16": true,
  "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
  },
  "memory_dropout_prob": 0.3,
  "memory_length": 4,
  "memory_n_cog_tokens": 16,
  "memory_video_delta_indices": [
    -48,
    -32,
    -16,
    0
  ],
  "model_name": "RLWRLD/RLDX-1-VLM",
  "model_type": "RLDX-1",
  "motion_drop": true,
  "use_motion": true,
  "motion_gradient_check": false,
  "motion_injection_point": "vision_encoder",
  "motion_insert_layer": 9,
  "motion_pool_type": "avg",
  "n_cog_tokens": 64,
  "general_embodiment_train_ratio": 0,
  "physics_delta_indices": [
    0,
    1,
    2,
    3,
    4,
    5,
    6,
    7,
    8,
    9,
    10,
    11,
    12,
    13,
    14,
    15,
    16,
    17,
    18,
    19,
    20,
    21,
    22,
    23,
    24,
    25,
    26,
    27,
    28,
    29,
    30,
    31,
    32,
    33,
    34,
    35,
    36,
    37,
    38,
    39,
    40
  ],
  "physics_dims": [
    48
  ],
  "physics_dropout_prob": 0.3,
  "physics_keys": [
    "torque"
  ],
  "physics_loss_weight": 0.1,
  "physics_use_flow_matching": true,
  "qwen3_collator": true,
  "random_rotation_angle": null,
  "reproject_vision": false,
  "state_dropout_prob": 0.3,
  "transformers_version": "4.57.0",
  "tune_diffusion_model": true,
  "tune_llm": false,
  "tune_projector": true,
  "tune_top_llm_layers": 4,
  "tune_visual": false,
  "use_memory": true,
  "use_physics": true,
  "use_relative_action": true,
  "use_video": true,
  "video_length": 4
}