2026-06-02 20:50:20 +01:00
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# DreamZero-DROID deploy: TP=1, CFG parallel size=2.
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pipeline: dreamzero
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async_chunk: false
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distributed_executor_backend: mp
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dtype: bfloat16
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stages:
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- stage_id: 0
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devices: "0,1"
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max_num_seqs: 1
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2026-06-19 14:24:37 +08:00
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enforce_eager: false
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2026-06-02 20:50:20 +01:00
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model_class_name: DreamZeroPipeline
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2026-07-28 17:14:26 +08:00
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# DreamZero runs on the AR-Diffusion engine (engine-level paged KV cache).
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engine_backend: vllm_omni.experimental.ar_diffusion.engine.ARDiffusionEngine
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2026-06-02 20:50:20 +01:00
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parallel_config:
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tensor_parallel_size: 1
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cfg_parallel_size: 2
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model_config:
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default_robot_embodiment: roboarena
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policy_server_config:
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image_resolution: [180, 320]
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n_external_cameras: 2
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needs_wrist_camera: true
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needs_stereo_camera: false
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needs_session_id: true
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action_space: joint_position
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2026-06-19 14:24:37 +08:00
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cache_backend: step_cache
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cache_config:
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step_cache_dit_enabled: true
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velocity_sim_thresholds: [0.95, 0.93]
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velocity_skip_countdowns: [4, 2]
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