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config.json

@@ -0,0 +1,300 @@
+{
+  "action_mode": "ee6d",
+  "architectures": [
+    "WorldBridgeXVLA"
+  ],
+  "auto_map": {
+    "AutoConfig": "configuration_xvla.XVLAConfig",
+    "AutoModel": "modeling_xvla.XVLA"
+  },
+  "bridge_change_bias_scale": 1.0,
+  "bridge_flow_bias_scale": 1.0,
+  "bridge_injection_start_layer": null,
+  "bridge_lora_alpha": 16.0,
+  "bridge_lora_dropout": 0.0,
+  "bridge_lora_last_n_blocks": 0,
+  "bridge_lora_only_bridge_layers": false,
+  "bridge_lora_rank": 0,
+  "bridge_lora_target_modules": [
+    "attn.q",
+    "attn.qkv",
+    "attn.kv_self",
+    "attn.k_future",
+    "attn.v_future",
+    "attn.k_change",
+    "attn.v_change",
+    "attn.k_flow",
+    "attn.v_flow",
+    "attn.proj",
+    "mlp.fc1",
+    "mlp.fc2",
+    "modulation.mlp.1",
+    "modulation.mlp.3"
+  ],
+  "bridge_modulation_scale": 0.1,
+  "bridge_num_injected_layers": 4,
+  "bridge_use_change_gate": true,
+  "bridge_use_flow_gate": true,
+  "bridge_use_future_gate": true,
+  "change_distill_cosine_weight": 0.1,
+  "change_distill_weight": 0.1,
+  "change_map_pool_hw": 4,
+  "change_predictor_mlp_ratio": 2.0,
+  "change_predictor_num_heads": 8,
+  "change_token_count": 16,
+  "depth": 24,
+  "dim_time": 32,
+  "florence_config": {
+    "_attn_implementation_autoset": true,
+    "bos_token_id": 0,
+    "eos_token_id": 2,
+    "ignore_index": -100,
+    "is_encoder_decoder": true,
+    "model_type": "florence2",
+    "pad_token_id": 1,
+    "projection_dim": 1024,
+    "text_config": {
+      "_attn_implementation_autoset": true,
+      "_name_or_path": "",
+      "activation_dropout": 0.1,
+      "activation_function": "gelu",
+      "add_cross_attention": false,
+      "architectures": null,
+      "attention_dropout": 0.1,
+      "bad_words_ids": null,
+      "begin_suppress_tokens": null,
+      "bos_token_id": 0,
+      "chunk_size_feed_forward": 0,
+      "classifier_dropout": 0.0,
+      "cross_attention_hidden_size": null,
+      "d_model": 1024,
+      "decoder_attention_heads": 16,
+      "decoder_ffn_dim": 4096,
+      "decoder_layerdrop": 0.0,
+      "decoder_layers": 12,
+      "decoder_start_token_id": 2,
+      "diversity_penalty": 0.0,
+      "do_sample": false,
+      "dropout": 0.1,
+      "early_stopping": false,
+      "encoder_attention_heads": 16,
+      "encoder_ffn_dim": 4096,
+      "encoder_layerdrop": 0.0,
+      "encoder_layers": 12,
+      "encoder_no_repeat_ngram_size": 0,
+      "eos_token_id": 2,
+      "exponential_decay_length_penalty": null,
+      "finetuning_task": null,
+      "forced_bos_token_id": null,
+      "forced_eos_token_id": 2,
+      "id2label": {
+        "0": "LABEL_0",
+        "1": "LABEL_1",
+        "2": "LABEL_2"
+      },
+      "init_std": 0.02,
+      "is_decoder": false,
+      "is_encoder_decoder": true,
+      "label2id": {
+        "LABEL_0": 0,
+        "LABEL_1": 1,
+        "LABEL_2": 2
+      },
+      "length_penalty": 1.0,
+      "max_length": 20,
+      "max_position_embeddings": 4096,
+      "min_length": 0,
+      "model_type": "florence2_language",
+      "no_repeat_ngram_size": 0,
+      "num_beam_groups": 1,
+      "num_beams": 3,
+      "num_hidden_layers": 12,
+      "num_return_sequences": 1,
+      "output_attentions": false,
+      "output_hidden_states": false,
+      "output_scores": false,
+      "pad_token_id": 1,
+      "prefix": null,
+      "problem_type": null,
+      "pruned_heads": {},
+      "remove_invalid_values": false,
+      "repetition_penalty": 1.0,
+      "return_dict": true,
+      "return_dict_in_generate": false,
+      "scale_embedding": false,
+      "sep_token_id": null,
+      "suppress_tokens": null,
+      "task_specific_params": null,
+      "temperature": 1.0,
+      "tf_legacy_loss": false,
+      "tie_encoder_decoder": false,
+      "tie_word_embeddings": true,
+      "tokenizer_class": null,
+      "top_k": 50,
+      "top_p": 1.0,
+      "torch_dtype": null,
+      "torchscript": false,
+      "typical_p": 1.0,
+      "use_bfloat16": false,
+      "use_cache": true,
+      "vocab_size": 51289
+    },
+    "torch_dtype": "float16",
+    "vision_config": {
+      "_attn_implementation_autoset": false,
+      "_name_or_path": "",
+      "add_cross_attention": false,
+      "architectures": null,
+      "bad_words_ids": null,
+      "begin_suppress_tokens": null,
+      "bos_token_id": null,
+      "chunk_size_feed_forward": 0,
+      "cross_attention_hidden_size": null,
+      "decoder_start_token_id": null,
+      "depths": [
+        1,
+        1,
+        9,
+        1
+      ],
+      "dim_embed": [
+        256,
+        512,
+        1024,
+        2048
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+      "diversity_penalty": 0.0,
+      "do_sample": false,
+      "drop_path_rate": 0.1,
+      "early_stopping": false,
+      "enable_checkpoint": false,
+      "encoder_no_repeat_ngram_size": 0,
+      "eos_token_id": null,
+      "exponential_decay_length_penalty": null,
+      "finetuning_task": null,
+      "forced_bos_token_id": null,
+      "forced_eos_token_id": null,
+      "id2label": {
+        "0": "LABEL_0",
+        "1": "LABEL_1"
+      },
+      "image_feature_source": [
+        "spatial_avg_pool",
+        "temporal_avg_pool"
+      ],
+      "image_pos_embed": {
+        "max_pos_embeddings": 50,
+        "type": "learned_abs_2d"
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+      "is_decoder": false,
+      "is_encoder_decoder": false,
+      "label2id": {
+        "LABEL_0": 0,
+        "LABEL_1": 1
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+      "length_penalty": 1.0,
+      "max_length": 20,
+      "min_length": 0,
+      "model_type": "davit",
+      "no_repeat_ngram_size": 0,
+      "num_beam_groups": 1,
+      "num_beams": 1,
+      "num_groups": [
+        8,
+        16,
+        32,
+        64
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+      "num_heads": [
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+        16,
+        32,
+        64
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+      "num_return_sequences": 1,
+      "output_attentions": false,
+      "output_hidden_states": false,
+      "output_scores": false,
+      "pad_token_id": null,
+      "patch_padding": [
+        3,
+        1,
+        1,
+        1
+      ],
+      "patch_prenorm": [
+        false,
+        true,
+        true,
+        true
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+      "patch_size": [
+        7,
+        3,
+        3,
+        3
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+      "patch_stride": [
+        4,
+        2,
+        2,
+        2
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+      "prefix": null,
+      "problem_type": null,
+      "projection_dim": 1024,
+      "pruned_heads": {},
+      "remove_invalid_values": false,
+      "repetition_penalty": 1.0,
+      "return_dict": true,
+      "return_dict_in_generate": false,
+      "sep_token_id": null,
+      "suppress_tokens": null,
+      "task_specific_params": null,
+      "temperature": 1.0,
+      "tf_legacy_loss": false,
+      "tie_encoder_decoder": false,
+      "tie_word_embeddings": true,
+      "tokenizer_class": null,
+      "top_k": 50,
+      "top_p": 1.0,
+      "torch_dtype": null,
+      "torchscript": false,
+      "typical_p": 1.0,
+      "use_bfloat16": false,
+      "visual_temporal_embedding": {
+        "max_temporal_embeddings": 100,
+        "type": "COSINE"
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+      "window_size": 12
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+    "vocab_size": 51289
+  },
+  "flow_distill_cosine_weight": 0.1,
+  "flow_distill_weight": 0.1,
+  "flow_map_pool_hw": 4,
+  "flow_predictor_mlp_ratio": 2.0,
+  "flow_predictor_num_heads": 8,
+  "flow_token_count": 16,
+  "future_distill_cosine_weight": 0.1,
+  "future_distill_weight": 0.1,
+  "future_predictor_mlp_ratio": 2.0,
+  "future_predictor_num_heads": 8,
+  "future_token_count": 4,
+  "future_token_pool_hw": 2,
+  "hidden_size": 1024,
+  "len_soft_prompts": 32,
+  "max_action_dim": 20,
+  "max_len_seq": 512,
+  "mlp_ratio": 4.0,
+  "model_type": "world_bridge_xvla",
+  "num_actions": 30,
+  "num_domains": 30,
+  "num_heads": 16,
+  "real_action_dim": 20,
+  "soft_prompt_length": 32,
+  "torch_dtype": "float32",
+  "transformers_version": "4.51.3",
+  "use_hetero_proj": false,
+  "use_proprio": true
+}

model.safetensors

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9c29f4d1b7149b8031e43f69165ecbfe5f317d8784550832239f731421c9afd6
+size 4023608024

preprocessor_config.json

@@ -0,0 +1,32 @@
+{
+  "auto_map": {
+    "AutoProcessor": "processing_xvla.XVLAProcessor"
+  },
+  "crop_size": {
+    "height": 224,
+    "width": 224
+  },
+  "do_center_crop": false,
+  "do_convert_rgb": null,
+  "do_normalize": true,
+  "do_rescale": true,
+  "do_resize": true,
+  "image_mean": [
+    0.485,
+    0.456,
+    0.406
+  ],
+  "image_processor_type": "CLIPImageProcessor",
+  "image_std": [
+    0.229,
+    0.224,
+    0.225
+  ],
+  "processor_class": "XVLAProcessor",
+  "resample": 3,
+  "rescale_factor": 0.00392156862745098,
+  "size": {
+    "height": 224,
+    "width": 224
+  }
+}

special_tokens_map.json

@@ -0,0 +1,51 @@
+{
+  "bos_token": {
+    "content": "<s>",
+    "lstrip": false,
+    "normalized": true,
+    "rstrip": false,
+    "single_word": false
+  },
+  "cls_token": {
+    "content": "<s>",
+    "lstrip": false,
+    "normalized": true,
+    "rstrip": false,
+    "single_word": false
+  },
+  "eos_token": {
+    "content": "</s>",
+    "lstrip": false,
+    "normalized": true,
+    "rstrip": false,
+    "single_word": false
+  },
+  "mask_token": {
+    "content": "<mask>",
+    "lstrip": true,
+    "normalized": true,
+    "rstrip": false,
+    "single_word": false
+  },
+  "pad_token": {
+    "content": "<pad>",
+    "lstrip": false,
+    "normalized": true,
+    "rstrip": false,
+    "single_word": false
+  },
+  "sep_token": {
+    "content": "</s>",
+    "lstrip": false,
+    "normalized": true,
+    "rstrip": false,
+    "single_word": false
+  },
+  "unk_token": {
+    "content": "<unk>",
+    "lstrip": false,
+    "normalized": true,
+    "rstrip": false,
+    "single_word": false
+  }
+}

state.json

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+{"global_step": 20000}

tokenizer_config.json

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+{
+  "add_prefix_space": false,
+  "added_tokens_decoder": {
+    "0": {
+      "content": "<s>",
+      "lstrip": false,
+      "normalized": true,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
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+      "lstrip": false,
+      "normalized": true,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
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+      "normalized": true,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
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+      "special": true
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+      "lstrip": true,
+      "normalized": true,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
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+  },
+  "bos_token": "<s>",
+  "clean_up_tokenization_spaces": false,
+  "cls_token": "<s>",
+  "eos_token": "</s>",
+  "errors": "replace",
+  "extra_special_tokens": {},
+  "mask_token": "<mask>",
+  "max_length": 50,
+  "model_max_length": 1024,
+  "pad_to_multiple_of": null,
+  "pad_token": "<pad>",
+  "pad_token_type_id": 0,
+  "padding_side": "right",
+  "processor_class": "XVLAProcessor",
+  "sep_token": "</s>",
+  "stride": 0,
+  "tokenizer_class": "BartTokenizer",
+  "trim_offsets": true,
+  "truncation_side": "right",
+  "truncation_strategy": "longest_first",
+  "unk_token": "<unk>"
+}