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+                                 Apache License
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LICENSE_MINICPM

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+
+                                 Apache License
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+      Contributor provides its Contributions) on an "AS IS" BASIS,
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+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
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+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
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+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
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+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
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+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
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+   APPENDIX: How to apply the Apache License to your work.
+
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+      boilerplate notice, with the fields enclosed by brackets "[]"
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+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
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+
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+   distributed under the License is distributed on an "AS IS" BASIS,
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+   See the License for the specific language governing permissions and
+   limitations under the License.

LICENSE_MIT

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+MIT License
+
+Copyright (c) 2026 MiniCPM-RobotTrack contributors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+

README.md

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+---
+license: apache-2.0
+library_name: transformers
+pipeline_tag: robotics
+tags:
+  - vision-language-action
+  - robotics
+  - embodied-ai
+  - minicpm
+  - visual-tracking
+---
+
+<h1 align="center">
+  MiniCPM-RobotTrack
+</h1>
+
+<p align="center">
+  <strong>A Compact Vision-Language-Action Policy for Embodied target Tracking</strong>
+</p>
+
+<p align="center">
+    <span style="display: inline-flex; align-items: center; margin-right: 2px;">
+    <img src="assets/github.png" alt="github" width="15" height="15" style="margin-right: 4px;">
+    <a href="https://github.com/OpenBMB/MiniCPM-RobotTrack" target="_blank"> Github</a> &nbsp;|
+    </span>
+    <span style="display: inline-flex; align-items: center; margin-right: 2px;">
+    <img src="assets/x.jpg" alt="X" width="15" height="15" style="margin-right: 4px;">
+    <a href="assets/x.png" target="_blank"> X</a> &nbsp;|
+    </span>
+    <span style="display: inline-flex; align-items: center; margin-right: 2px;">
+    <img src="assets/discord.png" alt="Discord" width="15" height="15" style="margin-right: 4px;">
+    <a href="assets/discord.jpg" target="_blank"> Discord</a> &nbsp;|
+    </span>
+</p>
+
+<strong>MiniCPM-RobotTrack</strong> is a compact vision-language-action model built on MiniCPM4-0.5B for target tracking with the following highlights:
+<ul>
+  <li><b>Language-conditioned target tracking:</b> The model combines natural-language instructions with fused DINOv3 and SigLIP visual features, then directly predicts eight future <code>[x, y, yaw]</code> waypoints for embodied person following.</li>
+  <li><b>Quality-driven Self-evolving Data:</b> Automated checks and manual review remove abnormal trajectories, incorrect actions, and invalid interactions. DAgger-style model-environment interaction continually adds difficult samples involving target crossings, rapid turns, short occlusions, and multi-person intersections.</li>
+  <li><b>Efficient On-device Inference:</b> Joint optimization of visual capture, input encoding, model inference, action generation, command transmission, and execution delivers a stable <b>5+ FPS</b> with approximately <b>180 ms</b> end-to-end latency on the Unitree Go2's native onboard compute.</li>
+</ul>
+
+<table align="center">
+  <tr>
+    <td align="center" width="33%">
+      <img src="assets/track1.gif" width="100%" alt="Outdoor obstacle-aware person-tracking demo" />
+    </td>
+    <td align="center" width="33%">
+      <img src="assets/track2.gif" width="100%" alt="Elevator person-tracking demo" />
+    </td>
+    <td align="center" width="33%">
+      <img src="assets/track3.gif" width="100%" alt="Underground parking person-tracking demo" />
+    </td>
+  </tr>
+  <tr>
+    <td align="center"><b>Outdoor Obstacle-aware Tracking</b></td>
+    <td align="center"><b>Elevator Tracking</b></td>
+    <td align="center"><b>Underground Parking Tracking</b></td>
+  </tr>
+</table>
+
+## Benchmark Results
+<p align="center">
+  <img src="assets/metric.png" width="700" alt="MiniCPM-RobotTrack benchmark results" />
+</p>
+
+## Inference Example
+
+Please ensure `transformers>=4.56,<5`.
+
+<pre><code class="language-python">from __future__ import annotations
+
+from pathlib import Path
+
+import torch
+from transformers import AutoModel, AutoTokenizer
+
+
+VISION_FEATURE_DIM = 1536
+HISTORY_FRAMES = 31
+COARSE_TOKENS_PER_FRAME = 4
+FINE_TOKENS_CURRENT_FRAME = 64
+
+
+class MiniCPMRobotTrackInference:
+    """Tokenizer and model wrapper for MiniCPM-RobotTrack inference."""
+
+    def __init__(
+        self,
+        checkpoint_path: str | Path = "openbmb/MiniCPM-RobotTrack",
+        device: str | torch.device | None = None,
+    ):
+        if device is None:
+            device = "cuda" if torch.cuda.is_available() else "cpu"
+        self.device = torch.device(device)
+        checkpoint = str(checkpoint_path)
+
+        self.tokenizer = AutoTokenizer.from_pretrained(checkpoint)
+        if self.tokenizer.pad_token_id is None:
+            self.tokenizer.pad_token = self.tokenizer.eos_token
+
+        self.model = AutoModel.from_pretrained(
+            checkpoint,
+            trust_remote_code=True,
+        )
+        self.model.to(self.device).eval()
+
+    @staticmethod
+    def _prepare_visual_tokens(
+        tokens: torch.Tensor,
+        time_indices: torch.Tensor,
+        name: str,
+    ) -> tuple[torch.Tensor, torch.Tensor]:
+        tokens = torch.as_tensor(tokens, dtype=torch.float32)
+        time_indices = torch.as_tensor(time_indices, dtype=torch.long)
+
+        if tokens.ndim == 2:
+            tokens = tokens.unsqueeze(0)
+        if time_indices.ndim == 1:
+            time_indices = time_indices.unsqueeze(0)
+        if tokens.ndim != 3 or tokens.shape[-1] != VISION_FEATURE_DIM:
+            raise ValueError(
+                f"{name}_tokens must have shape [B, N, {VISION_FEATURE_DIM}]"
+            )
+        if time_indices.shape != tokens.shape[:2]:
+            raise ValueError(
+                f"{name}_time_indices must match the first two dimensions of "
+                f"{name}_tokens"
+            )
+        return tokens, time_indices
+
+    @torch.inference_mode()
+    def predict(
+        self,
+        instruction: str,
+        coarse_tokens: torch.Tensor,
+        coarse_time_indices: torch.Tensor,
+        fine_tokens: torch.Tensor,
+        fine_time_indices: torch.Tensor,
+    ) -> torch.Tensor:
+        """Return eight ``[x, y, yaw]`` waypoints for each batch item."""
+        coarse_tokens, coarse_time_indices = self._prepare_visual_tokens(
+            coarse_tokens,
+            coarse_time_indices,
+            "coarse",
+        )
+        fine_tokens, fine_time_indices = self._prepare_visual_tokens(
+            fine_tokens,
+            fine_time_indices,
+            "fine",
+        )
+
+        batch_size = coarse_tokens.shape[0]
+        if fine_tokens.shape[0] != batch_size:
+            raise ValueError("coarse and fine feature batch sizes must match")
+
+        text = self.tokenizer(
+            [instruction] * batch_size,
+            return_tensors="pt",
+            padding=True,
+            truncation=True,
+            max_length=self.model.config.max_text_tokens,
+        )
+        outputs = self.model(
+            input_ids=text.input_ids.to(self.device),
+            attention_mask=text.attention_mask.to(self.device),
+            coarse_tokens=coarse_tokens.to(self.device),
+            coarse_time_indices=coarse_time_indices.to(self.device),
+            fine_tokens=fine_tokens.to(self.device),
+            fine_time_indices=fine_time_indices.to(self.device),
+        )
+        return outputs.trajectories.float().cpu()
+
+
+if __name__ == "__main__":
+    infer_runner = MiniCPMRobotTrackInference()
+
+    # Replace these placeholders with fused DINOv3 + SigLIP features produced
+    # by the project preprocessing pipeline.
+    coarse_tokens = torch.zeros(
+        HISTORY_FRAMES * COARSE_TOKENS_PER_FRAME,
+        VISION_FEATURE_DIM,
+    )
+    coarse_time_indices = torch.arange(HISTORY_FRAMES).repeat_interleave(
+        COARSE_TOKENS_PER_FRAME
+    )
+    fine_tokens = torch.zeros(
+        FINE_TOKENS_CURRENT_FRAME,
+        VISION_FEATURE_DIM,
+    )
+    fine_time_indices = torch.full(
+        (FINE_TOKENS_CURRENT_FRAME,),
+        HISTORY_FRAMES,
+        dtype=torch.long,
+    )
+
+    trajectory = infer_runner.predict(
+        instruction="Follow the person in the red shirt.",
+        coarse_tokens=coarse_tokens,
+        coarse_time_indices=coarse_time_indices,
+        fine_tokens=fine_tokens,
+        fine_time_indices=fine_time_indices,
+    )
+    print(trajectory)  # [1, 8, 3]
+
+</code></pre>
+
+
+
+## Acknowledgement
+
+<p>
+  This project builds on and references
+  <a href="https://github.com/OpenBMB/MiniCPM">MiniCPM</a>,
+  <a href="https://github.com/facebookresearch/dinov3">DINOv3</a>,
+  <a href="https://huggingface.co/google/siglip-so400m-patch14-384">SigLIP</a>,
+  <a href="https://github.com/facebookresearch/habitat-lab">Habitat-Lab</a>,
+  <a href="https://github.com/facebookresearch/habitat-sim">Habitat-Sim</a>,
+  EVT-Bench,
+  and
+  <a href="https://github.com/wsakobe/TrackVLA">TrackVLA</a>.
+  We thank the authors for their open-source contributions.
+</p>
+
+## License
+
+Model weights and code are open-sourced under the [Apache-2.0](./LICENSE) license.

THIRD_PARTY_NOTICES.md

@@ -0,0 +1,16 @@
+# Third-party notices
+
+MiniCPM-RobotTrack integrates with the following projects. Their code, model
+weights, datasets, and assets remain subject to their own licenses.
+
+- MiniCPM: compact language backbone from OpenBMB.
+- DINOv3: visual feature encoder from Meta. The model license is reproduced in
+  `licenses/DINOV3_LICENSE.md`.
+- SigLIP: visual feature encoder from Google.
+- Habitat-Lab and Habitat-Sim: simulation framework from Meta. The vendored
+  Habitat-Lab fork is under `third_party/habitat-lab` and retains its upstream
+  copyright headers and MIT terms.
+- EVT-Bench tracking extensions: simulator actions, sensors, and measurements
+  under `evt_bench`.
+- HM3D, MP3D, humanoid, and robot assets are not redistributed. Users must
+  obtain them from their providers and accept the applicable licenses.

added_tokens.json

@@ -0,0 +1,10 @@
+{
+  "<|execute_end|>": 73444,
+  "<|execute_start|>": 73443,
+  "<|fim_middle|>": 73446,
+  "<|fim_prefix|>": 73445,
+  "<|fim_suffix|>": 73447,
+  "<|im_end|>": 73440,
+  "<|im_start|>": 73441,
+  "<|tool_call|>": 73442
+}

config.json

@@ -0,0 +1,118 @@
+{
+  "architectures": [
+    "MiniCPMRobotTrackModel"
+  ],
+  "auto_map": {
+    "AutoConfig": "configuration_robottrack.MiniCPMRobotTrackConfig",
+    "AutoModel": "modeling_robottrack.MiniCPMRobotTrackModel"
+  },
+  "model_type": "minicpm_robottrack",
+  "model_name": "MiniCPM-RobotTrack",
+  "backbone_name": "openbmb/MiniCPM4-0.5B",
+  "backbone_config": {
+    "bos_token_id": 1,
+    "eos_token_id": [
+      2,
+      73440
+    ],
+    "hidden_act": "silu",
+    "hidden_size": 1024,
+    "initializer_range": 0.1,
+    "intermediate_size": 4096,
+    "max_position_embeddings": 32768,
+    "num_attention_heads": 16,
+    "num_hidden_layers": 24,
+    "num_key_value_heads": 2,
+    "rms_norm_eps": 1e-05,
+    "rope_scaling": {
+      "rope_type": "longrope",
+      "long_factor": [
+        1.0004360675811768,
+        1.0668443441390991,
+        1.1631425619125366,
+        1.3025742769241333,
+        1.5040205717086792,
+        1.7941505908966064,
+        2.2101221084594727,
+        2.802666664123535,
+        3.6389970779418945,
+        4.804192543029785,
+        6.39855432510376,
+        8.527148246765137,
+        11.277542114257812,
+        14.684998512268066,
+        18.69317054748535,
+        23.13019371032715,
+        27.72362518310547,
+        32.1606559753418,
+        36.168827056884766,
+        39.57627868652344,
+        42.32667541503906,
+        44.45526885986328,
+        46.04962921142578,
+        47.21482849121094,
+        48.05115509033203,
+        48.64370346069336,
+        49.05967712402344,
+        49.34980392456055,
+        49.551246643066406,
+        49.69068145751953,
+        49.78697967529297,
+        49.85338592529297
+      ],
+      "short_factor": [
+        1.0004360675811768,
+        1.0668443441390991,
+        1.1631425619125366,
+        1.3025742769241333,
+        1.5040205717086792,
+        1.7941505908966064,
+        2.2101221084594727,
+        2.802666664123535,
+        3.6389970779418945,
+        4.804192543029785,
+        6.39855432510376,
+        8.527148246765137,
+        11.277542114257812,
+        14.684998512268066,
+        18.69317054748535,
+        23.13019371032715,
+        27.72362518310547,
+        32.1606559753418,
+        36.168827056884766,
+        39.57627868652344,
+        42.32667541503906,
+        44.45526885986328,
+        46.04962921142578,
+        47.21482849121094,
+        48.05115509033203,
+        48.64370346069336,
+        49.05967712402344,
+        49.34980392456055,
+        49.551246643066406,
+        49.69068145751953,
+        49.78697967529297,
+        49.85338592529297
+      ],
+      "original_max_position_embeddings": 32768
+    },
+    "use_cache": false,
+    "vocab_size": 73448,
+    "scale_emb": 12,
+    "dim_model_base": 256,
+    "scale_depth": 1.4
+  },
+  "backbone_dtype": "bfloat16",
+  "vision_feature_dim": 1536,
+  "history_frames": 31,
+  "coarse_tokens_per_frame": 4,
+  "fine_tokens_current_frame": 64,
+  "num_waypoints": 8,
+  "action_dim": 3,
+  "max_text_tokens": 128,
+  "max_time_steps": 4096,
+  "trajectory_dropout": 0.4,
+  "xy_scale": 2.0,
+  "use_tanh_actions": true,
+  "transformers_version": "4.56.2"
+}

configuration_minicpm.py

@@ -0,0 +1,203 @@
+# coding=utf-8
+# Copyright 2025 The OpenBMB Team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+""" MiniCPM model configuration"""
+
+from transformers.configuration_utils import PretrainedConfig
+from transformers.utils import logging
+
+logger = logging.get_logger(__name__)
+
+MINICPM_PRETRAINED_CONFIG_ARCHIVE_MAP = {}
+
+
+class MiniCPMConfig(PretrainedConfig):
+    r"""
+    This is the configuration class to store the configuration of a [`MiniCPMModel`]. It is used to instantiate an MiniCPM
+    model according to the specified arguments, defining the model architecture. Instantiating a configuration with the
+    defaults will yield a similar configuration to that of the MiniCPM-7B.
+
+    Configuration objects inherit from [`PretrainedConfig`] and can be used to control the model outputs. Read the
+    documentation from [`PretrainedConfig`] for more information.
+
+
+    Args:
+        vocab_size (`int`, *optional*, defaults to 32000):
+            Vocabulary size of the MiniCPM model. Defines the number of different tokens that can be represented by the
+            `inputs_ids` passed when calling [`MiniCPMModel`]
+        hidden_size (`int`, *optional*, defaults to 4096):
+            Dimension of the hidden representations.
+        intermediate_size (`int`, *optional*, defaults to 11008):
+            Dimension of the MLP representations.
+        num_hidden_layers (`int`, *optional*, defaults to 32):
+            Number of hidden layers in the Transformer decoder.
+        num_attention_heads (`int`, *optional*, defaults to 32):
+            Number of attention heads for each attention layer in the Transformer decoder.
+        num_key_value_heads (`int`, *optional*):
+            This is the number of key_value heads that should be used to implement Grouped Query Attention. If
+            `num_key_value_heads=num_attention_heads`, the model will use Multi Head Attention (MHA), if
+            `num_key_value_heads=1 the model will use Multi Query Attention (MQA) otherwise GQA is used. When
+            converting a multi-head checkpoint to a GQA checkpoint, each group key and value head should be constructed
+            by meanpooling all the original heads within that group. For more details checkout [this
+            paper](https://arxiv.org/pdf/2305.13245.pdf). If it is not specified, will default to
+            `num_attention_heads`.
+        hidden_act (`str` or `function`, *optional*, defaults to `"silu"`):
+            The non-linear activation function (function or string) in the decoder.
+        max_position_embeddings (`int`, *optional*, defaults to 2048):
+            The maximum sequence length that this model might ever be used with. MiniCPM 1 supports up to 2048 tokens,
+            MiniCPM 2 up to 4096, CodeMiniCPM up to 16384.
+        initializer_range (`float`, *optional*, defaults to 0.02):
+            The standard deviation of the truncated_normal_initializer for initializing all weight matrices.
+        rms_norm_eps (`float`, *optional*, defaults to 1e-06):
+            The epsilon used by the rms normalization layers.
+        use_cache (`bool`, *optional*, defaults to `True`):
+            Whether or not the model should return the last key/values attentions (not used by all models). Only
+            relevant if `config.is_decoder=True`.
+        pad_token_id (`int`, *optional*):
+            Padding token id.
+        bos_token_id (`int`, *optional*, defaults to 1):
+            Beginning of stream token id.
+        eos_token_id (`int`, *optional*, defaults to 2):
+            End of stream token id.
+        pretraining_tp (`int`, *optional*, defaults to 1):
+            Experimental feature. Tensor parallelism rank used during pretraining. Please refer to [this
+            document](https://huggingface.co/docs/transformers/parallelism) to understand more about it. This value is
+            necessary to ensure exact reproducibility of the pretraining results. Please refer to [this
+            issue](https://github.com/pytorch/pytorch/issues/76232).
+        tie_word_embeddings (`bool`, *optional*, defaults to `False`):
+            Whether to tie weight embeddings
+        rope_theta (`float`, *optional*, defaults to 10000.0):
+            The base period of the RoPE embeddings.
+        rope_scaling (`Dict`, *optional*):
+            Dictionary containing the scaling configuration for the RoPE embeddings. Currently supports two scaling
+            strategies: linear and dynamic. Their scaling factor must be a float greater than 1. The expected format is
+            `{"type": strategy name, "factor": scaling factor}`. When using this flag, don't update
+            `max_position_embeddings` to the expected new maximum. See the following thread for more information on how
+            these scaling strategies behave:
+            https://www.reddit.com/r/LocalMiniCPM/comments/14mrgpr/dynamically_scaled_rope_further_increases/. This is an
+            experimental feature, subject to breaking API changes in future versions.
+        attention_bias (`bool`, defaults to `False`, *optional*, defaults to `False`):
+            Whether to use a bias in the query, key, value and output projection layers during self-attention.
+        attention_dropout (`float`, *optional*, defaults to 0.0):
+            The dropout ratio for the attention probabilities.
+
+    ```python
+    >>> from transformers import MiniCPMModel, MiniCPMConfig
+
+    >>> # Initializing a MiniCPM minicpm-7b style configuration
+    >>> configuration = MiniCPMConfig()
+
+    >>> # Initializing a model from the minicpm-7b style configuration
+    >>> model = MiniCPMModel(configuration)
+
+    >>> # Accessing the model configuration
+    >>> configuration = model.config
+    ```"""
+
+    model_type = 'minicpm'
+    keys_to_ignore_at_inference = ['past_key_values']
+
+    def __init__(
+        self,
+        vocab_size=32000,
+        hidden_size=4096,
+        intermediate_size=11008,
+        num_hidden_layers=32,
+        num_attention_heads=32,
+        num_key_value_heads=None,
+        hidden_act='silu',
+        max_position_embeddings=2048,
+        initializer_range=0.02,
+        rms_norm_eps=1e-6,
+        use_cache=True,
+        pad_token_id=None,
+        bos_token_id=1,
+        eos_token_id=2,
+        pretraining_tp=1,
+        tie_word_embeddings=True,
+        rope_theta=10000.0,
+        rope_scaling=None,
+        attention_bias=False,
+        attention_dropout=0.0,
+        scale_emb=1,
+        dim_model_base=1,
+        scale_depth=1,
+        mup_denominator=None,
+        sparse_config=None,
+        **kwargs):
+
+        self.vocab_size = vocab_size
+        self.max_position_embeddings = max_position_embeddings
+        self.hidden_size = hidden_size
+        self.intermediate_size = intermediate_size
+        self.num_hidden_layers = num_hidden_layers
+        self.num_attention_heads = num_attention_heads
+
+        # for backward compatibility
+        if num_key_value_heads is None:
+            num_key_value_heads = num_attention_heads
+
+        self.num_key_value_heads = num_key_value_heads
+        self.hidden_act = hidden_act
+        self.initializer_range = initializer_range
+        self.rms_norm_eps = rms_norm_eps
+        self.pretraining_tp = pretraining_tp
+        self.use_cache = use_cache
+        self.rope_theta = rope_theta
+        self.rope_scaling = rope_scaling
+        # self._rope_scaling_validation()
+        self.attention_bias = attention_bias
+        self.attention_dropout = attention_dropout
+        self.scale_emb = scale_emb
+        self.dim_model_base = dim_model_base
+        self.scale_depth = scale_depth
+        # only used for Eagle Head
+        self.mup_denominator = mup_denominator
+
+        # sparse config
+        self.sparse_config = sparse_config
+
+        super().__init__(
+            pad_token_id=pad_token_id,
+            bos_token_id=bos_token_id,
+            eos_token_id=eos_token_id,
+            tie_word_embeddings=tie_word_embeddings,
+            **kwargs,
+        )
+        try:
+            import flash_attn
+            self._attn_implementation = 'flash_attention_2'
+        except:
+            pass
+
+    def _rope_scaling_validation(self):
+        """
+        Validate the `rope_scaling` configuration.
+        """
+        if self.rope_scaling is None:
+            return
+
+        if not isinstance(self.rope_scaling, dict) or len(self.rope_scaling) != 2:
+            raise ValueError(
+                '`rope_scaling` must be a dictionary with with two fields, `type` and `factor`, '
+                f'got {self.rope_scaling}'
+            )
+        rope_scaling_type = self.rope_scaling.get('type', None)
+        rope_scaling_factor = self.rope_scaling.get('factor', None)
+        if rope_scaling_type is None or rope_scaling_type not in ['linear', 'dynamic']:
+            raise ValueError(
+                f"`rope_scaling`'s type field must be one of ['linear', 'dynamic'], got {rope_scaling_type}"
+            )
+        if rope_scaling_factor is None or not isinstance(rope_scaling_factor, float) or rope_scaling_factor <= 1.0:
+            raise ValueError(f"`rope_scaling`'s factor field must be a float > 1, got {rope_scaling_factor}")

configuration_robottrack.py

@@ -0,0 +1,70 @@
+"""Hugging Face configuration for MiniCPM-RobotTrack."""
+
+from typing import Any, Dict, Optional
+
+from transformers.configuration_utils import PretrainedConfig
+
+
+class MiniCPMRobotTrackConfig(PretrainedConfig):
+    """Configuration for the MiniCPM-RobotTrack trajectory policy."""
+
+    model_type = "minicpm_robottrack"
+    has_no_defaults_at_init = True
+
+    def __init__(
+        self,
+        backbone_config: Optional[Dict[str, Any]] = None,
+        vision_feature_dim: int = 1536,
+        history_frames: int = 31,
+        coarse_tokens_per_frame: int = 4,
+        fine_tokens_current_frame: int = 64,
+        num_waypoints: int = 8,
+        action_dim: int = 3,
+        max_text_tokens: int = 128,
+        max_time_steps: int = 4096,
+        trajectory_dropout: float = 0.4,
+        xy_scale: float = 2.0,
+        use_tanh_actions: bool = True,
+        backbone_dtype: str = "bfloat16",
+        **kwargs: Any,
+    ) -> None:
+        self.backbone_config = dict(backbone_config or {})
+        self.vision_feature_dim = int(vision_feature_dim)
+        self.history_frames = int(history_frames)
+        self.coarse_tokens_per_frame = int(coarse_tokens_per_frame)
+        self.fine_tokens_current_frame = int(fine_tokens_current_frame)
+        self.num_waypoints = int(num_waypoints)
+        self.action_dim = int(action_dim)
+        self.max_text_tokens = int(max_text_tokens)
+        self.max_time_steps = int(max_time_steps)
+        self.trajectory_dropout = float(trajectory_dropout)
+        self.xy_scale = float(xy_scale)
+        self.use_tanh_actions = bool(use_tanh_actions)
+        self.backbone_dtype = str(backbone_dtype)
+        self._validate_robot_track_config()
+        super().__init__(**kwargs)
+
+    def _validate_robot_track_config(self) -> None:
+        if not self.backbone_config:
+            raise ValueError("backbone_config must contain the bundled MiniCPM configuration")
+        if self.vision_feature_dim <= 0:
+            raise ValueError("vision_feature_dim must be positive")
+        if self.history_frames < 0:
+            raise ValueError("history_frames cannot be negative")
+        for name, value in (
+            ("coarse_tokens_per_frame", self.coarse_tokens_per_frame),
+            ("fine_tokens_current_frame", self.fine_tokens_current_frame),
+        ):
+            side = int(round(value**0.5)) if value > 0 else 0
+            if side * side != value:
+                raise ValueError(f"{name} must be a positive square number")
+        if self.num_waypoints < 2:
+            raise ValueError("num_waypoints must be at least 2")
+        if self.action_dim != 3:
+            raise ValueError("actions must use [x, y, yaw] format")
+        if self.max_text_tokens <= 0 or self.max_time_steps <= 0:
+            raise ValueError("token and time limits must be positive")
+        if not 0.0 <= self.trajectory_dropout < 1.0:
+            raise ValueError("trajectory_dropout must be in [0, 1)")
+        if self.xy_scale <= 0.0:
+            raise ValueError("xy_scale must be positive")

model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27cc7e58fd0797ea2dfa03b250847a7142eeedc7babbadd7bc63401d051ec7f3
+size 931428452

modeling_minicpm.py

@@ -0,0 +1,1514 @@
+# coding=utf-8
+# Copyright 2025 The OpenBMB Team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+""" PyTorch MiniCPM model."""
+import math
+import re
+import warnings
+from typing import Any, Dict, List, Optional, Tuple, Union
+
+import torch
+import torch.nn.functional as F
+import torch.utils.checkpoint
+from torch import nn
+from torch.nn import BCEWithLogitsLoss, CrossEntropyLoss, MSELoss
+from transformers.activations import ACT2FN
+from transformers.cache_utils import Cache, DynamicCache, CacheLayerMixin, DynamicLayer
+from transformers.modeling_attn_mask_utils import (
+    AttentionMaskConverter,
+    _prepare_4d_attention_mask,
+    _prepare_4d_causal_attention_mask,
+    _prepare_4d_causal_attention_mask_for_sdpa,
+)
+from transformers.modeling_outputs import (
+    BaseModelOutputWithPast,
+    CausalLMOutputWithPast,
+    SequenceClassifierOutputWithPast,
+)
+from transformers.modeling_utils import PreTrainedModel
+from transformers.pytorch_utils import ALL_LAYERNORM_LAYERS, is_torch_greater_or_equal_than_1_13
+from transformers.utils import (
+    add_start_docstrings,
+    add_start_docstrings_to_model_forward,
+    is_flash_attn_greater_or_equal_2_10,
+    logging,
+    replace_return_docstrings,
+)
+from transformers.utils.import_utils import is_torch_fx_available
+
+from .configuration_minicpm import MiniCPMConfig
+
+try:
+    from flash_attn import flash_attn_func, flash_attn_varlen_func
+    from flash_attn.bert_padding import index_first_axis, pad_input, unpad_input  # noqa
+except:
+    pass
+
+
+
+# This makes `_prepare_4d_causal_attention_mask` a leaf function in the FX graph.
+# It means that the function will not be traced through and simply appear as a node in the graph.
+if is_torch_fx_available():
+    if not is_torch_greater_or_equal_than_1_13:
+        import torch.fx
+
+    _prepare_4d_causal_attention_mask = torch.fx.wrap(_prepare_4d_causal_attention_mask)
+
+
+logger = logging.get_logger(__name__)
+
+_CONFIG_FOR_DOC = 'MiniCPMConfig'
+
+
+def _get_unpad_data(attention_mask):
+    seqlens_in_batch = attention_mask.sum(dim=-1, dtype=torch.int32)
+    indices = torch.nonzero(attention_mask.flatten(), as_tuple=False).flatten()
+    max_seqlen_in_batch = seqlens_in_batch.max().item()
+    cu_seqlens = F.pad(torch.cumsum(seqlens_in_batch, dim=0, dtype=torch.torch.int32), (1, 0))
+    return (
+        indices,
+        cu_seqlens,
+        max_seqlen_in_batch,
+    )
+
+
+
+
+# @torch.jit.script  # type: ignore
+def rms_layernorm(hidden: torch.Tensor, weight: torch.Tensor, eps: float):
+    old_dtype = hidden.dtype
+    variance = hidden.to(torch.float32).pow(2).mean(dim=-1, keepdim=True)
+    hidden = (hidden * torch.rsqrt(variance + eps)).to(old_dtype)
+    return hidden * weight
+
+
+class MiniCPMRMSNorm(nn.Module):
+    def __init__(self, hidden_size, eps=1e-6):
+        """
+        MiniCPMRMSNorm is equivalent to T5LayerNorm
+        """
+        super().__init__()
+        self.weight = nn.Parameter(torch.ones(hidden_size))
+        self.variance_epsilon = eps
+
+    def forward(self, hidden_states):
+        return rms_layernorm(hidden_states, self.weight, self.variance_epsilon)
+
+
+ALL_LAYERNORM_LAYERS.append(MiniCPMRMSNorm)
+
+
+class MiniCPMRotaryEmbedding(nn.Module):
+    def __init__(self, dim, max_position_embeddings=2048, base=10000, device=None):
+        super().__init__()
+
+        self.dim = dim
+        self.max_position_embeddings = max_position_embeddings
+        self.base = base
+        inv_freq = 1.0 / (self.base ** (torch.arange(0, self.dim, 2).float().to(device) / self.dim))
+        self.register_buffer('inv_freq', inv_freq, persistent=False)
+
+        # Build here to make `torch.jit.trace` work.
+        self._set_cos_sin_cache(
+            # seq_len=max_position_embeddings, device=self.inv_freq.device, dtype=torch.get_default_dtype()
+            seq_len=max_position_embeddings, device=self.inv_freq.device, dtype=torch.float32
+        )
+
+    def _set_cos_sin_cache(self, seq_len, device, dtype):
+        self.max_seq_len_cached = seq_len
+        t = torch.arange(self.max_seq_len_cached, device=device, dtype=self.inv_freq.dtype)
+        freqs = torch.outer(t, self.inv_freq)
+        # Different from paper, but it uses a different permutation in order to obtain the same calculation
+        emb = torch.cat((freqs, freqs), dim=-1)
+
+        self.register_buffer('cos_cached', emb.cos().to(dtype), persistent=False)
+        self.register_buffer('sin_cached', emb.sin().to(dtype), persistent=False)
+
+    def forward(self, x, seq_len=None):
+        # x: [bs, num_attention_heads, seq_len, head_size]
+        if seq_len > self.max_seq_len_cached:
+            self._set_cos_sin_cache(seq_len=seq_len, device=x.device, dtype=x.dtype)
+
+        return (
+            self.cos_cached[:seq_len].to(dtype=x.dtype),
+            self.sin_cached[:seq_len].to(dtype=x.dtype),
+        )
+
+
+class MiniCPMLongRoPE(MiniCPMRotaryEmbedding):
+    """MiniCPMRotaryEmbedding extended with Dynamic NTK scaling. Credits to the Reddit users /u/bloc97 and /u/emozilla"""
+
+    def __init__(self, dim, max_position_embeddings=2048, base=10000, device=None, short_factor=None, long_factor=None, original_max_position_embeddings=None):
+        self.short_factor = short_factor
+        self.long_factor = long_factor
+        self.original_max_position_embeddings = original_max_position_embeddings
+        scale = (max_position_embeddings / self.original_max_position_embeddings)
+        self.scaling_factor = math.sqrt(1 + math.log(scale) / math.log(self.original_max_position_embeddings))
+        super().__init__(dim, max_position_embeddings, base, device)
+
+    def _set_cos_sin_cache(self, seq_len, device, dtype):
+        self.max_seq_len_cached = seq_len
+        t = torch.arange(self.max_seq_len_cached, device=device, dtype=self.inv_freq.dtype)
+        if seq_len > self.original_max_position_embeddings:
+            ext_factors = torch.tensor(self.long_factor, dtype=torch.float32, device=device)
+        else:
+            ext_factors = torch.tensor(self.short_factor, dtype=torch.float32, device=device)
+
+        freqs = torch.mul(
+            torch.outer(t, 1.0 / ext_factors).to(device=device),
+            self.inv_freq.to(device=device).to(dtype)
+        )
+        # Different from paper, but it uses a different permutation in order to obtain the same calculation
+        emb = torch.cat((freqs, freqs), dim=-1)
+        self.register_buffer('cos_cached', emb.cos().to(dtype) * self.scaling_factor, persistent=False)
+        self.register_buffer('sin_cached', emb.sin().to(dtype) * self.scaling_factor, persistent=False)
+
+
+class MiniCPMLinearScalingRotaryEmbedding(MiniCPMRotaryEmbedding):
+    """MiniCPMRotaryEmbedding extended with linear scaling. Credits to the Reddit user /u/kaiokendev"""
+
+    def __init__(self, dim, max_position_embeddings=2048, base=10000, device=None, scaling_factor=1.0):
+        self.scaling_factor = scaling_factor
+        super().__init__(dim, max_position_embeddings, base, device)
+
+    def _set_cos_sin_cache(self, seq_len, device, dtype):
+        self.max_seq_len_cached = seq_len
+        t = torch.arange(self.max_seq_len_cached, device=device, dtype=self.inv_freq.dtype)
+        t = t / self.scaling_factor
+
+        freqs = torch.outer(t, self.inv_freq)
+        # Different from paper, but it uses a different permutation in order to obtain the same calculation
+        emb = torch.cat((freqs, freqs), dim=-1)
+        self.register_buffer('cos_cached', emb.cos().to(dtype), persistent=False)
+        self.register_buffer('sin_cached', emb.sin().to(dtype), persistent=False)
+
+
+class MiniCPMDynamicNTKScalingRotaryEmbedding(MiniCPMRotaryEmbedding):
+    """MiniCPMRotaryEmbedding extended with Dynamic NTK scaling. Credits to the Reddit users /u/bloc97 and /u/emozilla"""
+
+    def __init__(self, dim, max_position_embeddings=2048, base=10000, device=None, scaling_factor=1.0):
+        self.scaling_factor = scaling_factor
+        super().__init__(dim, max_position_embeddings, base, device)
+
+    def _set_cos_sin_cache(self, seq_len, device, dtype):
+        self.max_seq_len_cached = seq_len
+
+        if seq_len > self.max_position_embeddings:
+            base = self.base * (
+                (self.scaling_factor * seq_len / self.max_position_embeddings) - (self.scaling_factor - 1)
+            ) ** (self.dim / (self.dim - 2))
+            inv_freq = 1.0 / (base ** (torch.arange(0, self.dim, 2).float().to(device) / self.dim))
+            self.register_buffer('inv_freq', inv_freq, persistent=False)
+
+        t = torch.arange(self.max_seq_len_cached, device=device, dtype=self.inv_freq.dtype)
+
+        freqs = torch.outer(t, self.inv_freq)
+        # Different from paper, but it uses a different permutation in order to obtain the same calculation
+        emb = torch.cat((freqs, freqs), dim=-1)
+
+        self.register_buffer('cos_cached', emb.cos().to(dtype), persistent=False)
+        self.register_buffer('sin_cached', emb.sin().to(dtype), persistent=False)
+
+
+def rotate_half(x):
+    """Rotates half the hidden dims of the input."""
+    x1 = x[..., : x.shape[-1] // 2]
+    x2 = x[..., x.shape[-1] // 2:]
+    return torch.cat((-x2, x1), dim=-1)
+
+
+def apply_rotary_pos_emb(q, k, cos, sin, position_ids, unsqueeze_dim=1):
+    """Applies Rotary Position Embedding to the query and key tensors.
+
+    Args:
+        q (`torch.Tensor`): The query tensor.
+        k (`torch.Tensor`): The key tensor.
+        cos (`torch.Tensor`): The cosine part of the rotary embedding.
+        sin (`torch.Tensor`): The sine part of the rotary embedding.
+        position_ids (`torch.Tensor`):
+            The position indices of the tokens corresponding to the query and key tensors. For example, this can be
+            used to pass offsetted position ids when working with a KV-cache.
+        unsqueeze_dim (`int`, *optional*, defaults to 1):
+            The 'unsqueeze_dim' argument specifies the dimension along which to unsqueeze cos[position_ids] and
+            sin[position_ids] so that they can be properly broadcasted to the dimensions of q and k. For example, note
+            that cos[position_ids] and sin[position_ids] have the shape [batch_size, seq_len, head_dim]. Then, if q and
+            k have the shape [batch_size, heads, seq_len, head_dim], then setting unsqueeze_dim=1 makes
+            cos[position_ids] and sin[position_ids] broadcastable to the shapes of q and k. Similarly, if q and k have
+            the shape [batch_size, seq_len, heads, head_dim], then set unsqueeze_dim=2.
+    Returns:
+        `tuple(torch.Tensor)` comprising of the query and key tensors rotated using the Rotary Position Embedding.
+    """
+    # cos = cos[position_ids].unsqueeze(unsqueeze_dim)
+    # sin = sin[position_ids].unsqueeze(unsqueeze_dim)
+    # q_embed = (q * cos) + (rotate_half(q) * sin)
+    # k_embed = (k * cos) + (rotate_half(k) * sin)
+    orig_dtype = k.dtype
+    cos = cos[position_ids].unsqueeze(unsqueeze_dim)  # [bs, 1, seq_len, dim]
+    sin = sin[position_ids].unsqueeze(unsqueeze_dim)  # [bs, 1, seq_len, dim]
+    q_fp32 = q.to(dtype=torch.float32, device=q.device)
+    k_fp32 = k.to(dtype=torch.float32, device=k.device)
+    q_embed = (q_fp32 * cos) + (rotate_half(q_fp32) * sin)
+    k_embed = (k_fp32 * cos) + (rotate_half(k_fp32) * sin)
+    return q_embed.to(dtype=orig_dtype), k_embed.to(dtype=orig_dtype)
+
+
+class MiniCPMMLP(nn.Module):
+    def __init__(self, config):
+        super().__init__()
+        self.config = config
+        self.hidden_size = config.hidden_size
+        self.intermediate_size = config.intermediate_size
+        self.gate_proj = nn.Linear(self.hidden_size, self.intermediate_size, bias=False)
+        self.up_proj = nn.Linear(self.hidden_size, self.intermediate_size, bias=False)
+        self.down_proj = nn.Linear(self.intermediate_size, self.hidden_size, bias=False)
+        self.act_fn = ACT2FN[config.hidden_act]
+
+    def forward(self, x):
+        if self.config.pretraining_tp > 1:
+            slice = self.intermediate_size // self.config.pretraining_tp
+            gate_proj_slices = self.gate_proj.weight.split(slice, dim=0)
+            up_proj_slices = self.up_proj.weight.split(slice, dim=0)
+            down_proj_slices = self.down_proj.weight.split(slice, dim=1)
+
+            gate_proj = torch.cat(
+                [F.linear(x, gate_proj_slices[i]) for i in range(self.config.pretraining_tp)], dim=-1
+            )
+            up_proj = torch.cat([F.linear(x, up_proj_slices[i]) for i in range(self.config.pretraining_tp)], dim=-1)
+
+            intermediate_states = (self.act_fn(gate_proj) * up_proj).split(slice, dim=2)
+            down_proj = [
+                F.linear(intermediate_states[i], down_proj_slices[i]) for i in range(self.config.pretraining_tp)
+            ]
+            down_proj = sum(down_proj)
+        else:
+            down_proj = self.down_proj(self.act_fn(self.gate_proj(x)) * self.up_proj(x))
+
+        return down_proj
+
+def _unpad_one_tensor(hidden_states, attention_mask):
+    # Unpad the hidden states using the indices
+    indices, cu_seqlens, max_seqlen_in_batch = _get_unpad_data(attention_mask)
+    batch_size, seq_len = hidden_states.shape[:2]
+    
+    # Get the remaining dimensions
+    remaining_dims = hidden_states.shape[2:]
+    
+    # Reshape to (batch_size * seq_len, *remaining_dims)
+    reshaped_states = hidden_states.reshape(batch_size * seq_len, *remaining_dims)
+    
+    # Apply unpadding using indices
+    unpadded_states = index_first_axis(reshaped_states, indices)
+    
+    return unpadded_states, indices, cu_seqlens, max_seqlen_in_batch
+
+def repeat_kv(hidden_states: torch.Tensor, n_rep: int) -> torch.Tensor:
+    """
+    This is the equivalent of torch.repeat_interleave(x, dim=1, repeats=n_rep). The hidden states go from (batch,
+    num_key_value_heads, seqlen, head_dim) to (batch, num_attention_heads, seqlen, head_dim)
+    """
+    batch, num_key_value_heads, slen, head_dim = hidden_states.shape
+    if n_rep == 1:
+        return hidden_states
+    hidden_states = hidden_states[:, :, None, :, :].expand(batch, num_key_value_heads, n_rep, slen, head_dim)
+    return hidden_states.reshape(batch, num_key_value_heads * n_rep, slen, head_dim)
+
+
+class MiniCPMAttention(nn.Module):
+    """Multi-headed attention from 'Attention Is All You Need' paper"""
+
+    def __init__(self, config: MiniCPMConfig, layer_idx: Optional[int] = None):
+        super().__init__()
+        self.config = config
+        self.layer_idx = layer_idx
+        if layer_idx is None:
+            logger.warning_once(
+                f'Instantiating {self.__class__.__name__} without passing `layer_idx` is not recommended and will '
+                'to errors during the forward call, if caching is used. Please make sure to provide a `layer_idx` '
+                'when creating this class.'
+            )
+
+        self.attention_dropout = config.attention_dropout
+        self.hidden_size = config.hidden_size
+        self.num_heads = config.num_attention_heads
+        self.head_dim = self.hidden_size // self.num_heads
+        self.num_key_value_heads = config.num_key_value_heads
+        self.num_key_value_groups = self.num_heads // self.num_key_value_heads
+        self.max_position_embeddings = config.max_position_embeddings
+        self.rope_theta = config.rope_theta
+        self.is_causal = True
+
+        if (self.head_dim * self.num_heads) != self.hidden_size:
+            raise ValueError(
+                f'hidden_size must be divisible by num_heads (got `hidden_size`: {self.hidden_size}'
+                f' and `num_heads`: {self.num_heads}).'
+            )
+
+        self.q_proj = nn.Linear(self.hidden_size, self.num_heads * self.head_dim, bias=config.attention_bias)
+        self.k_proj = nn.Linear(self.hidden_size, self.num_key_value_heads * self.head_dim, bias=config.attention_bias)
+        self.v_proj = nn.Linear(self.hidden_size, self.num_key_value_heads * self.head_dim, bias=config.attention_bias)
+        self.o_proj = nn.Linear(self.num_heads * self.head_dim, self.hidden_size, bias=config.attention_bias)
+        self._init_rope()
+
+    def _init_rope(self):
+        if self.config.rope_scaling is None:
+            self.rotary_emb = MiniCPMRotaryEmbedding(
+                self.head_dim,
+                max_position_embeddings=self.max_position_embeddings,
+                base=self.rope_theta,
+            )
+        else:
+            scaling_type = self.config.rope_scaling['rope_type']
+            scaling_factor = self.config.rope_scaling.get('factor', None)
+            if scaling_type == 'linear':
+                self.rotary_emb = MiniCPMLinearScalingRotaryEmbedding(
+                    self.head_dim,
+                    max_position_embeddings=self.max_position_embeddings,
+                    scaling_factor=scaling_factor,
+                    base=self.rope_theta,
+                )
+            elif scaling_type == 'dynamic':
+                self.rotary_emb = MiniCPMDynamicNTKScalingRotaryEmbedding(
+                    self.head_dim,
+                    max_position_embeddings=self.max_position_embeddings,
+                    scaling_factor=scaling_factor,
+                    base=self.rope_theta,
+                )
+            elif scaling_type == 'longrope':
+                self.rotary_emb = MiniCPMLongRoPE(
+                    self.head_dim,
+                    max_position_embeddings=self.max_position_embeddings,
+                    short_factor=self.config.rope_scaling['short_factor'],
+                    long_factor=self.config.rope_scaling['long_factor'],
+                    base=self.rope_theta,
+                    original_max_position_embeddings=self.config.rope_scaling['original_max_position_embeddings']
+                )
+            else:
+                raise ValueError(f'Unknown RoPE scaling type {scaling_type}')
+
+    def _shape(self, tensor: torch.Tensor, seq_len: int, bsz: int):
+        return tensor.view(bsz, seq_len, self.num_heads, self.head_dim).transpose(1, 2).contiguous()
+
+    def forward(
+        self,
+        hidden_states: torch.Tensor,
+        attention_mask: Optional[torch.Tensor] = None,
+        position_ids: Optional[torch.LongTensor] = None,
+        past_key_value: Optional[Cache] = None,
+        output_attentions: bool = False,
+        use_cache: bool = False,
+        **kwargs,
+    ) -> Tuple[torch.Tensor, Optional[torch.Tensor], Optional[Tuple[torch.Tensor]]]:
+        if 'padding_mask' in kwargs:
+            warnings.warn(
+                'Passing `padding_mask` is deprecated and will be removed in v4.37. Please make sure use `attention_mask` instead.`'
+            )
+
+        bsz, q_len, _ = hidden_states.size()
+
+        if self.config.pretraining_tp > 1:
+            key_value_slicing = (self.num_key_value_heads * self.head_dim) // self.config.pretraining_tp
+            query_slices = self.q_proj.weight.split(
+                (self.num_heads * self.head_dim) // self.config.pretraining_tp, dim=0
+            )
+            key_slices = self.k_proj.weight.split(key_value_slicing, dim=0)
+            value_slices = self.v_proj.weight.split(key_value_slicing, dim=0)
+
+            query_states = [F.linear(hidden_states, query_slices[i]) for i in range(self.config.pretraining_tp)]
+            query_states = torch.cat(query_states, dim=-1)
+
+            key_states = [F.linear(hidden_states, key_slices[i]) for i in range(self.config.pretraining_tp)]
+            key_states = torch.cat(key_states, dim=-1)
+
+            value_states = [F.linear(hidden_states, value_slices[i]) for i in range(self.config.pretraining_tp)]
+            value_states = torch.cat(value_states, dim=-1)
+
+        else:
+            query_states = self.q_proj(hidden_states)
+            key_states = self.k_proj(hidden_states)
+            value_states = self.v_proj(hidden_states)
+
+        query_states = query_states.view(bsz, q_len, self.num_heads, self.head_dim).transpose(1, 2)
+        key_states = key_states.view(bsz, q_len, self.num_key_value_heads, self.head_dim).transpose(1, 2)
+        value_states = value_states.view(bsz, q_len, self.num_key_value_heads, self.head_dim).transpose(1, 2)
+
+        kv_seq_len = position_ids.max().item() + 1
+        cos, sin = self.rotary_emb(value_states.to(torch.float32), seq_len=kv_seq_len)
+
+        query_states, key_states = apply_rotary_pos_emb(query_states, key_states, cos, sin, position_ids)
+
+        if past_key_value is not None:
+            cache_kwargs = {'sin': sin, 'cos': cos}  # Specific to RoPE models
+            key_states, value_states = past_key_value.update(key_states, value_states, self.layer_idx, cache_kwargs)
+
+        key_states = repeat_kv(key_states, self.num_key_value_groups)
+        value_states = repeat_kv(value_states, self.num_key_value_groups)
+
+        attn_weights = torch.matmul(query_states, key_states.transpose(2, 3)) / math.sqrt(self.head_dim)
+        if attn_weights.size() != (bsz, self.num_heads, q_len, kv_seq_len):
+            raise ValueError(
+                f'Attention weights should be of size {(bsz, self.num_heads, q_len, kv_seq_len)}, but is'
+                f' {attn_weights.size()}'
+            )
+
+        if attention_mask is not None:
+            if attention_mask.size() != (bsz, 1, q_len, kv_seq_len):
+                raise ValueError(
+                    f'Attention mask should be of size {(bsz, 1, q_len, kv_seq_len)}, but is {attention_mask.size()}'
+                )
+            attn_weights = attn_weights + attention_mask
+
+        # upcast attention to fp32
+        attn_weights = nn.functional.softmax(attn_weights, dim=-1, dtype=torch.float32).to(query_states.dtype)
+        attn_weights = nn.functional.dropout(attn_weights, p=self.attention_dropout, training=self.training)
+        attn_output = torch.matmul(attn_weights, value_states)
+
+        if attn_output.size() != (bsz, self.num_heads, q_len, self.head_dim):
+            raise ValueError(
+                f'`attn_output` should be of size {(bsz, self.num_heads, q_len, self.head_dim)}, but is'
+                f' {attn_output.size()}'
+            )
+
+        attn_output = attn_output.transpose(1, 2).contiguous()
+
+        attn_output = attn_output.reshape(bsz, q_len, self.hidden_size)
+
+        if self.config.pretraining_tp > 1:
+            attn_output = attn_output.split(self.hidden_size // self.config.pretraining_tp, dim=2)
+            o_proj_slices = self.o_proj.weight.split(self.hidden_size // self.config.pretraining_tp, dim=1)
+            attn_output = sum([F.linear(attn_output[i], o_proj_slices[i]) for i in range(self.config.pretraining_tp)])
+        else:
+            attn_output = self.o_proj(attn_output)
+
+        if not output_attentions:
+            attn_weights = None
+
+        return attn_output, attn_weights, past_key_value
+
+
+class MiniCPMFlashAttention2(MiniCPMAttention):
+    """
+    MiniCPM flash attention module. This module inherits from `MiniCPMAttention` as the weights of the module stays
+    untouched. The only required change would be on the forward pass where it needs to correctly call the public API of
+    flash attention and deal with padding tokens in case the input contains any of them.
+    """
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        # TODO: Should be removed once Flash Attention for RoCm is bumped to 2.1.
+        # flash_attn<2.1 generates top-left aligned causal mask, while what is needed here is bottom-right alignment, that was made default for flash_attn>=2.1. This attribute is used to handle this difference. Reference: https://github.com/Dao-AILab/flash-attention/releases/tag/v2.1.0.
+        # Beware that with flash_attn<2.1, using q_seqlen != k_seqlen (except for the case q_seqlen == 1) produces a wrong mask (top-left).
+        self._flash_attn_uses_top_left_mask = not is_flash_attn_greater_or_equal_2_10()
+
+    def forward(
+        self,
+        hidden_states: torch.Tensor,
+        attention_mask: Optional[torch.LongTensor] = None,
+        position_ids: Optional[torch.LongTensor] = None,
+        past_key_value: Optional[Cache] = None,
+        output_attentions: bool = False,
+        use_cache: bool = False,
+        **kwargs,
+    ) -> Tuple[torch.Tensor, Optional[torch.Tensor], Optional[Tuple[torch.Tensor]]]:
+        # MiniCPMFlashAttention2 attention does not support output_attentions
+        if 'padding_mask' in kwargs:
+            warnings.warn(
+                'Passing `padding_mask` is deprecated and will be removed in v4.37. Please make sure use `attention_mask` instead.`'
+            )
+
+            # overwrite attention_mask with padding_mask
+            attention_mask = kwargs.pop('padding_mask')
+
+        output_attentions = False
+
+        bsz, q_len, _ = hidden_states.size()
+
+        query_states = self.q_proj(hidden_states)
+        key_states = self.k_proj(hidden_states)
+        value_states = self.v_proj(hidden_states)
+
+        # Flash attention requires the input to have the shape
+        # batch_size x seq_length x head_dim x hidden_dim
+        # therefore we just need to keep the original shape
+        query_states = query_states.view(bsz, q_len, self.num_heads, self.head_dim).transpose(1, 2)
+        key_states = key_states.view(bsz, q_len, self.num_key_value_heads, self.head_dim).transpose(1, 2)
+        value_states = value_states.view(bsz, q_len, self.num_key_value_heads, self.head_dim).transpose(1, 2)
+
+        kv_seq_len = position_ids.max().item() + 1
+        cos, sin = self.rotary_emb(value_states.to(torch.float32), seq_len=kv_seq_len)
+        query_states, key_states = apply_rotary_pos_emb(query_states, key_states, cos, sin, position_ids)
+
+        if past_key_value is not None:
+            cache_kwargs = {'sin': sin, 'cos': cos}  # Specific to RoPE models
+            key_states, value_states = past_key_value.update(key_states, value_states, self.layer_idx, cache_kwargs)
+
+        # TODO: These transpose are quite inefficient but Flash Attention requires the layout [batch_size, sequence_length, num_heads, head_dim]. We would need to refactor the KV cache
+        # to be able to avoid many of these transpose/reshape/view.
+        query_states = query_states.transpose(1, 2)
+        key_states = key_states.transpose(1, 2)
+        value_states = value_states.transpose(1, 2)
+
+        dropout_rate = self.attention_dropout if self.training else 0.0
+
+        # In PEFT, usually we cast the layer norms in float32 for training stability reasons
+        # therefore the input hidden states gets silently casted in float32. Hence, we need
+        # cast them back in the correct dtype just to be sure everything works as expected.
+        # This might slowdown training & inference so it is recommended to not cast the LayerNorms
+        # in fp32. (MiniCPMRMSNorm handles it correctly)
+
+        input_dtype = query_states.dtype
+        if input_dtype == torch.float32:
+            # Handle the case where the model is quantized
+            if hasattr(self.config, '_pre_quantization_dtype'):
+                target_dtype = self.config._pre_quantization_dtype
+            else:
+                target_dtype = self.q_proj.weight.dtype
+
+            logger.warning_once(
+                f'The input hidden states seems to be silently casted in float32, this might be related to'
+                f' the fact you have upcasted embedding or layer norm layers in float32. We will cast back the input in'
+                f' {target_dtype}.'
+            )
+
+            query_states = query_states.to(target_dtype)
+            key_states = key_states.to(target_dtype)
+            value_states = value_states.to(target_dtype)
+
+        attn_output = self._flash_attention_forward(
+            query_states, key_states, value_states, attention_mask, q_len, dropout=dropout_rate
+        )
+
+        attn_output = attn_output.reshape(bsz, q_len, self.hidden_size).contiguous()
+        attn_output = self.o_proj(attn_output)
+
+        if not output_attentions:
+            attn_weights = None
+
+        return attn_output, attn_weights, past_key_value
+
+    def _flash_attention_forward(
+        self, query_states, key_states, value_states, attention_mask, query_length, dropout=0.0, softmax_scale=None
+    ):
+        """
+        Calls the forward method of Flash Attention - if the input hidden states contain at least one padding token
+        first unpad the input, then computes the attention scores and pad the final attention scores.
+
+        Args:
+            query_states (`torch.Tensor`):
+                Input query states to be passed to Flash Attention API
+            key_states (`torch.Tensor`):
+                Input key states to be passed to Flash Attention API
+            value_states (`torch.Tensor`):
+                Input value states to be passed to Flash Attention API
+            attention_mask (`torch.Tensor`):
+                The padding mask - corresponds to a tensor of size `(batch_size, seq_len)` where 0 stands for the
+                position of padding tokens and 1 for the position of non-padding tokens.
+            dropout (`int`, *optional*):
+                Attention dropout
+            softmax_scale (`float`, *optional*):
+                The scaling of QK^T before applying softmax. Default to 1 / sqrt(head_dim)
+        """
+        if not self._flash_attn_uses_top_left_mask:
+            causal = self.is_causal
+        else:
+            # TODO: Remove the `query_length != 1` check once Flash Attention for RoCm is bumped to 2.1. For details, please see the comment in MiniCPMFlashAttention2 __init__.
+            causal = self.is_causal and query_length != 1
+        # Contains at least one padding token in the sequence
+        if attention_mask is not None:
+            batch_size = query_states.shape[0]
+            query_states, key_states, value_states, indices_q, cu_seq_lens, max_seq_lens = self._upad_input(
+                query_states, key_states, value_states, attention_mask, query_length
+            )
+
+            cu_seqlens_q, cu_seqlens_k = cu_seq_lens
+            max_seqlen_in_batch_q, max_seqlen_in_batch_k = max_seq_lens
+            attn_output_unpad = flash_attn_varlen_func(
+                query_states,
+                key_states,
+                value_states,
+                cu_seqlens_q=cu_seqlens_q,
+                cu_seqlens_k=cu_seqlens_k,
+                max_seqlen_q=max_seqlen_in_batch_q,
+                max_seqlen_k=max_seqlen_in_batch_k,
+                dropout_p=dropout,
+                softmax_scale=softmax_scale,
+                causal=causal,
+            )
+
+            attn_output = pad_input(attn_output_unpad, indices_q, batch_size, query_length)
+        else:
+            attn_output = flash_attn_func(
+                query_states, key_states, value_states, dropout, softmax_scale=softmax_scale, causal=causal
+            )
+
+        return attn_output
+
+    def _upad_input(self, query_layer, key_layer, value_layer, attention_mask, query_length):
+        indices_k, cu_seqlens_k, max_seqlen_in_batch_k = _get_unpad_data(attention_mask)
+        batch_size, kv_seq_len, num_key_value_heads, head_dim = key_layer.shape
+
+        key_layer = index_first_axis(
+            key_layer.reshape(batch_size * kv_seq_len, num_key_value_heads, head_dim), indices_k
+        )
+        value_layer = index_first_axis(
+            value_layer.reshape(batch_size * kv_seq_len, num_key_value_heads, head_dim), indices_k
+        )
+        if query_length == kv_seq_len:
+            query_layer = index_first_axis(
+                query_layer.reshape(batch_size * kv_seq_len, self.num_heads, head_dim), indices_k
+            )
+            cu_seqlens_q = cu_seqlens_k
+            max_seqlen_in_batch_q = max_seqlen_in_batch_k
+            indices_q = indices_k
+        elif query_length == 1:
+            max_seqlen_in_batch_q = 1
+            cu_seqlens_q = torch.arange(
+                batch_size + 1, dtype=torch.int32, device=query_layer.device
+            )  # There is a memcpy here, that is very bad.
+            indices_q = cu_seqlens_q[:-1]
+            query_layer = query_layer.squeeze(1)
+        else:
+            # The -q_len: slice assumes left padding.
+            attention_mask = attention_mask[:, -query_length:]
+            query_layer, indices_q, cu_seqlens_q, max_seqlen_in_batch_q = unpad_input(query_layer, attention_mask)
+
+        return (
+            query_layer,
+            key_layer,
+            value_layer,
+            indices_q,
+            (cu_seqlens_q, cu_seqlens_k),
+            (max_seqlen_in_batch_q, max_seqlen_in_batch_k),
+        )
+
+
+class MiniCPMSdpaAttention(MiniCPMAttention):
+    """
+    MiniCPM attention module using torch.nn.functional.scaled_dot_product_attention. This module inherits from
+    `MiniCPMAttention` as the weights of the module stays untouched. The only changes are on the forward pass to adapt to
+    SDPA API.
+    """
+
+    # Adapted from MiniCPMAttention.forward
+    def forward(
+        self,
+        hidden_states: torch.Tensor,
+        attention_mask: Optional[torch.Tensor] = None,
+        position_ids: Optional[torch.LongTensor] = None,
+        past_key_value: Optional[Cache] = None,
+        output_attentions: bool = False,
+        use_cache: bool = False,
+    ) -> Tuple[torch.Tensor, Optional[torch.Tensor], Optional[Tuple[torch.Tensor]]]:
+        if output_attentions:
+            # TODO: Improve this warning with e.g. `model.config.attn_implementation = "manual"` once this is implemented.
+            logger.warning_once(
+                'MiniCPMModel is using MiniCPMSdpaAttention, but `torch.nn.functional.scaled_dot_product_attention` does not support `output_attentions=True`. Falling back to the manual attention implementation, '
+                'but specifying the manual implementation will be required from Transformers version v5.0.0 onwards. This warning can be removed using the argument `attn_implementation="eager"` when loading the model.'
+            )
+            return super().forward(
+                hidden_states=hidden_states,
+                attention_mask=attention_mask,
+                position_ids=position_ids,
+                past_key_value=past_key_value,
+                output_attentions=output_attentions,
+                use_cache=use_cache,
+            )
+
+        bsz, q_len, _ = hidden_states.size()
+
+        query_states = self.q_proj(hidden_states)
+        key_states = self.k_proj(hidden_states)
+        value_states = self.v_proj(hidden_states)
+
+        query_states = query_states.view(bsz, q_len, self.num_heads, self.head_dim).transpose(1, 2)
+        key_states = key_states.view(bsz, q_len, self.num_key_value_heads, self.head_dim).transpose(1, 2)
+        value_states = value_states.view(bsz, q_len, self.num_key_value_heads, self.head_dim).transpose(1, 2)
+
+        kv_seq_len = position_ids.max().item() + 1
+        cos, sin = self.rotary_emb(value_states, seq_len=kv_seq_len)
+
+        query_states, key_states = apply_rotary_pos_emb(query_states, key_states, cos, sin, position_ids)
+
+        if past_key_value is not None:
+            cache_kwargs = {'sin': sin, 'cos': cos}  # Specific to RoPE models
+            key_states, value_states = past_key_value.update(key_states, value_states, self.layer_idx, cache_kwargs)
+
+        key_states = repeat_kv(key_states, self.num_key_value_groups)
+        value_states = repeat_kv(value_states, self.num_key_value_groups)
+
+        if attention_mask is not None:
+            if attention_mask.size() != (bsz, 1, q_len, kv_seq_len):
+                raise ValueError(
+                    f'Attention mask should be of size {(bsz, 1, q_len, kv_seq_len)}, but is {attention_mask.size()}'
+                )
+
+        # SDPA with memory-efficient backend is currently (torch==2.1.2) bugged with non-contiguous inputs with custom attn_mask,
+        # Reference: https://github.com/pytorch/pytorch/issues/112577.
+        if query_states.device.type == 'cuda' and attention_mask is not None:
+            query_states = query_states.contiguous()
+            key_states = key_states.contiguous()
+            value_states = value_states.contiguous()
+
+        attn_output = torch.nn.functional.scaled_dot_product_attention(
+            query_states,
+            key_states,
+            value_states,
+            attn_mask=attention_mask,
+            dropout_p=self.attention_dropout if self.training else 0.0,
+            # The q_len > 1 is necessary to match with AttentionMaskConverter.to_causal_4d that does not create a causal mask in case q_len == 1.
+            is_causal=self.is_causal and attention_mask is None and q_len > 1,
+        )
+
+        attn_output = attn_output.transpose(1, 2).contiguous()
+        attn_output = attn_output.reshape(bsz, q_len, self.hidden_size)
+
+        attn_output = self.o_proj(attn_output)
+
+        return attn_output, None, past_key_value
+
+
+MINICPM_ATTENTION_CLASSES = {
+    'eager': MiniCPMAttention,
+    'flash_attention_2': MiniCPMFlashAttention2,
+    'sdpa': MiniCPMSdpaAttention,
+}
+
+
+class MiniCPMDecoderLayer(nn.Module):
+    def __init__(self, config: MiniCPMConfig, layer_idx: int):
+        super().__init__()
+        self.hidden_size = config.hidden_size
+        self.self_attn = MINICPM_ATTENTION_CLASSES[config._attn_implementation](config=config, layer_idx=layer_idx)
+
+        self.mlp = MiniCPMMLP(config)
+        self.input_layernorm = MiniCPMRMSNorm(config.hidden_size, eps=config.rms_norm_eps)
+        self.post_attention_layernorm = MiniCPMRMSNorm(config.hidden_size, eps=config.rms_norm_eps)
+
+        self.scale_depth = config.scale_depth
+        self.num_hidden_layers = config.num_hidden_layers
+
+    def forward(
+        self,
+        hidden_states: torch.Tensor,
+        attention_mask: Optional[torch.Tensor] = None,
+        position_ids: Optional[torch.LongTensor] = None,
+        past_key_value: Optional[Tuple[torch.Tensor]] = None,
+        output_attentions: Optional[bool] = False,
+        use_cache: Optional[bool] = False,
+        **kwargs,
+    ) -> Tuple[torch.FloatTensor, Optional[Tuple[torch.FloatTensor, torch.FloatTensor]]]:
+        """
+        Args:
+            hidden_states (`torch.FloatTensor`): input to the layer of shape `(batch, seq_len, embed_dim)`
+            attention_mask (`torch.FloatTensor`, *optional*):
+                attention mask of size `(batch_size, sequence_length)` if flash attention is used or `(batch_size, 1,
+                query_sequence_length, key_sequence_length)` if default attention is used.
+            output_attentions (`bool`, *optional*):
+                Whether or not to return the attentions tensors of all attention layers. See `attentions` under
+                returned tensors for more detail.
+            use_cache (`bool`, *optional*):
+                If set to `True`, `past_key_values` key value states are returned and can be used to speed up decoding
+                (see `past_key_values`).
+            past_key_value (`Tuple(torch.FloatTensor)`, *optional*): cached past key and value projection states
+        """
+        if 'padding_mask' in kwargs:
+            warnings.warn(
+                'Passing `padding_mask` is deprecated and will be removed in v4.37. Please make sure use `attention_mask` instead.`'
+            )
+
+        residual = hidden_states
+        hidden_states = self.input_layernorm(hidden_states)
+        # Self Attention
+        hidden_states, self_attn_weights, present_key_value = self.self_attn(
+            hidden_states=hidden_states,
+            attention_mask=attention_mask,
+            position_ids=position_ids,
+            past_key_value=past_key_value,
+            output_attentions=output_attentions,
+            use_cache=use_cache,
+            **kwargs,
+        )
+
+        hidden_states = residual + hidden_states * (self.scale_depth / math.sqrt(self.num_hidden_layers))
+
+        # Fully Connected
+        residual = hidden_states
+        hidden_states = self.post_attention_layernorm(hidden_states)
+
+        hidden_states = self.mlp(hidden_states)
+        hidden_states = residual + hidden_states * (self.scale_depth / math.sqrt(self.num_hidden_layers))
+
+        outputs = (hidden_states,)
+
+        if output_attentions:
+            outputs += (self_attn_weights,)
+
+        if use_cache:
+            outputs += (present_key_value,)
+
+        return outputs
+
+
+MINICPM_START_DOCSTRING = r"""
+    This model inherits from [`PreTrainedModel`]. Check the superclass documentation for the generic methods the
+    library implements for all its model (such as downloading or saving, resizing the input embeddings, pruning heads
+    etc.)
+
+    This model is also a PyTorch [torch.nn.Module](https://pytorch.org/docs/stable/nn.html#torch.nn.Module) subclass.
+    Use it as a regular PyTorch Module and refer to the PyTorch documentation for all matter related to general usage
+    and behavior.
+
+    Parameters:
+        config ([`MiniCPMConfig`]):
+            Model configuration class with all the parameters of the model. Initializing with a config file does not
+            load the weights associated with the model, only the configuration. Check out the
+            [`~PreTrainedModel.from_pretrained`] method to load the model weights.
+"""
+
+
+@add_start_docstrings(
+    'The bare MiniCPM Model outputting raw hidden-states without any specific head on top.',
+    MINICPM_START_DOCSTRING,
+)
+class MiniCPMPreTrainedModel(PreTrainedModel):
+    config_class = MiniCPMConfig
+    base_model_prefix = 'model'
+    supports_gradient_checkpointing = True
+    _no_split_modules = ['MiniCPMDecoderLayer']
+    _skip_keys_device_placement = 'past_key_values'
+    _supports_flash_attn_2 = True
+    _supports_sdpa = True
+    _supports_cache_class = True
+
+    def _init_weights(self, module):
+        std = self.config.initializer_range
+        if isinstance(module, nn.Linear):
+            module.weight.data.normal_(mean=0.0, std=std)
+            if module.bias is not None:
+                module.bias.data.zero_()
+        elif isinstance(module, nn.Embedding):
+            module.weight.data.normal_(mean=0.0, std=std)
+            if module.padding_idx is not None:
+                module.weight.data[module.padding_idx].zero_()
+
+
+MINICPM_INPUTS_DOCSTRING = r"""
+    Args:
+        input_ids (`torch.LongTensor` of shape `(batch_size, sequence_length)`):
+            Indices of input sequence tokens in the vocabulary. Padding will be ignored by default should you provide
+            it.
+
+            Indices can be obtained using [`AutoTokenizer`]. See [`PreTrainedTokenizer.encode`] and
+            [`PreTrainedTokenizer.__call__`] for details.
+
+            [What are input IDs?](../glossary#input-ids)
+        attention_mask (`torch.Tensor` of shape `(batch_size, sequence_length)`, *optional*):
+            Mask to avoid performing attention on padding token indices. Mask values selected in `[0, 1]`:
+
+            - 1 for tokens that are **not masked**,
+            - 0 for tokens that are **masked**.
+
+            [What are attention masks?](../glossary#attention-mask)
+
+            Indices can be obtained using [`AutoTokenizer`]. See [`PreTrainedTokenizer.encode`] and
+            [`PreTrainedTokenizer.__call__`] for details.
+
+            If `past_key_values` is used, optionally only the last `input_ids` have to be input (see
+            `past_key_values`).
+
+            If you want to change padding behavior, you should read [`modeling_opt._prepare_decoder_attention_mask`]
+            and modify to your needs. See diagram 1 in [the paper](https://arxiv.org/abs/1910.13461) for more
+            information on the default strategy.
+
+            - 1 indicates the head is **not masked**,
+            - 0 indicates the head is **masked**.
+        position_ids (`torch.LongTensor` of shape `(batch_size, sequence_length)`, *optional*):
+            Indices of positions of each input sequence tokens in the position embeddings. Selected in the range `[0,
+            config.n_positions - 1]`.
+
+            [What are position IDs?](../glossary#position-ids)
+        past_key_values (`Cache` or `tuple(tuple(torch.FloatTensor))`, *optional*):
+            Pre-computed hidden-states (key and values in the self-attention blocks and in the cross-attention
+            blocks) that can be used to speed up sequential decoding. This typically consists in the `past_key_values`
+            returned by the model at a previous stage of decoding, when `use_cache=True` or `config.use_cache=True`.
+
+            Two formats are allowed:
+            - a [`~cache_utils.Cache`] instance;
+            - Tuple of `tuple(torch.FloatTensor)` of length `config.n_layers`, with each tuple having 2 tensors of
+            shape `(batch_size, num_heads, sequence_length, embed_size_per_head)`). This is also known as the legacy
+            cache format.
+
+            The model will output the same cache format that is fed as input. If no `past_key_values` are passed, the
+            legacy cache format will be returned.
+
+            If `past_key_values` are used, the user can optionally input only the last `input_ids` (those that don't
+            have their past key value states given to this model) of shape `(batch_size, 1)` instead of all `input_ids`
+            of shape `(batch_size, sequence_length)`.
+        inputs_embeds (`torch.FloatTensor` of shape `(batch_size, sequence_length, hidden_size)`, *optional*):
+            Optionally, instead of passing `input_ids` you can choose to directly pass an embedded representation. This
+            is useful if you want more control over how to convert `input_ids` indices into associated vectors than the
+            model's internal embedding lookup matrix.
+        use_cache (`bool`, *optional*):
+            If set to `True`, `past_key_values` key value states are returned and can be used to speed up decoding (see
+            `past_key_values`).
+        output_attentions (`bool`, *optional*):
+            Whether or not to return the attentions tensors of all attention layers. See `attentions` under returned
+            tensors for more detail.
+        output_hidden_states (`bool`, *optional*):
+            Whether or not to return the hidden states of all layers. See `hidden_states` under returned tensors for
+            more detail.
+        return_dict (`bool`, *optional*):
+            Whether or not to return a [`~utils.ModelOutput`] instead of a plain tuple.
+"""
+
+
+@add_start_docstrings(
+    'The bare MiniCPM Model outputting raw hidden-states without any specific head on top.',
+    MINICPM_START_DOCSTRING,
+)
+class MiniCPMModel(MiniCPMPreTrainedModel):
+    """
+    Transformer decoder consisting of *config.num_hidden_layers* layers. Each layer is a [`MiniCPMDecoderLayer`]
+
+    Args:
+        config: MiniCPMConfig
+    """
+
+    def __init__(self, config: MiniCPMConfig):
+        super().__init__(config)
+        self.padding_idx = config.pad_token_id
+        self.vocab_size = config.vocab_size
+
+        self.embed_tokens = nn.Embedding(config.vocab_size, config.hidden_size, self.padding_idx)
+        self.layers = nn.ModuleList(
+            [MiniCPMDecoderLayer(config, layer_idx) for layer_idx in range(config.num_hidden_layers)]
+        )
+        self._use_sdpa = config._attn_implementation == 'sdpa'
+        self._use_flash_attention_2 = config._attn_implementation == 'flash_attention_2'
+
+        self.norm = MiniCPMRMSNorm(config.hidden_size, eps=config.rms_norm_eps)
+
+        self.gradient_checkpointing = False
+        # Initialize weights and apply final processing
+        self.post_init()
+
+    def get_input_embeddings(self):
+        return self.embed_tokens
+
+    def set_input_embeddings(self, value):
+        self.embed_tokens = value
+
+    @add_start_docstrings_to_model_forward(MINICPM_INPUTS_DOCSTRING)
+    def forward(
+        self,
+        input_ids: torch.LongTensor = None,
+        attention_mask: Optional[torch.Tensor] = None,
+        position_ids: Optional[torch.LongTensor] = None,
+        past_key_values: Optional[List[torch.FloatTensor]] = None,
+        inputs_embeds: Optional[torch.FloatTensor] = None,
+        use_cache: Optional[bool] = None,
+        output_attentions: Optional[bool] = None,
+        output_hidden_states: Optional[bool] = None,
+        return_dict: Optional[bool] = None,
+    ) -> Union[Tuple, BaseModelOutputWithPast]:
+        output_attentions = output_attentions if output_attentions is not None else self.config.output_attentions
+        output_hidden_states = (
+            output_hidden_states if output_hidden_states is not None else self.config.output_hidden_states
+        )
+        use_cache = use_cache if use_cache is not None else self.config.use_cache
+
+        return_dict = return_dict if return_dict is not None else self.config.use_return_dict
+
+        # retrieve input_ids and inputs_embeds
+        if input_ids is not None and inputs_embeds is not None:
+            raise ValueError('You cannot specify both input_ids and inputs_embeds at the same time')
+        elif input_ids is not None:
+            batch_size, seq_length = input_ids.shape[:2]
+        elif inputs_embeds is not None:
+            batch_size, seq_length = inputs_embeds.shape[:2]
+        else:
+            raise ValueError('You have to specify either input_ids or inputs_embeds')
+
+        if self.gradient_checkpointing and self.training:
+            if use_cache:
+                logger.warning_once(
+                    '`use_cache=True` is incompatible with gradient checkpointing. Setting `use_cache=False`...'
+                )
+                use_cache = False
+
+        past_key_values_length = 0
+
+        if use_cache:
+            use_legacy_cache = not isinstance(past_key_values, Cache)
+            if use_legacy_cache:
+                raise ValueError(
+                    'You must use the new past_key_values format, such as the Cache class, instead of the old tuple format.'
+                )
+
+            # Calculate the usable length of past key values
+            past_key_values_length = past_key_values.get_seq_length() if isinstance(past_key_values, Cache) else 0
+
+
+        if position_ids is None:
+            device = input_ids.device if input_ids is not None else inputs_embeds.device
+            position_ids = torch.arange(
+                past_key_values_length, seq_length + past_key_values_length, dtype=torch.long, device=device
+            )
+            position_ids = position_ids.unsqueeze(0)
+
+        if inputs_embeds is None:
+            inputs_embeds = self.embed_tokens(input_ids) * self.config.scale_emb
+
+        if self._use_flash_attention_2:
+            # 2d mask is passed through the layers
+            # attention_mask = attention_mask if (attention_mask is not None and 0 in attention_mask) else None
+            if attention_mask is None:
+                raise ValueError(
+                    f'need attention_mask for flash attention, but got {attention_mask}.'
+                )
+        elif self._use_sdpa and not output_attentions:
+            # output_attentions=True can not be supported when using SDPA, and we fall back on
+            # the manual implementation that requires a 4D causal mask in all cases.
+            attention_mask = _prepare_4d_causal_attention_mask_for_sdpa(
+                attention_mask,
+                (batch_size, seq_length),
+                inputs_embeds,
+                past_key_values_length,
+            )
+        else:
+            # 4d mask is passed through the layers
+            attention_mask = _prepare_4d_causal_attention_mask(
+                attention_mask, (batch_size, seq_length), inputs_embeds, past_key_values_length
+            )
+
+        # embed positions
+        hidden_states = inputs_embeds
+
+        # decoder layers
+        all_hidden_states = () if output_hidden_states else None
+        all_self_attns = () if output_attentions else None
+        next_decoder_cache = None
+
+        for decoder_layer in self.layers:
+            if output_hidden_states:
+                all_hidden_states += (hidden_states,)
+
+            if self.gradient_checkpointing and self.training:
+                layer_outputs = self._gradient_checkpointing_func(
+                    decoder_layer.__call__,
+                    hidden_states,
+                    attention_mask,
+                    position_ids,
+                    past_key_values,
+                    output_attentions,
+                    use_cache,
+                )
+            else:
+                layer_outputs = decoder_layer(
+                    hidden_states,
+                    attention_mask=attention_mask,
+                    position_ids=position_ids,
+                    past_key_value=past_key_values,
+                    output_attentions=output_attentions,
+                    use_cache=use_cache,
+                )
+
+            hidden_states = layer_outputs[0]
+
+            if use_cache:
+                next_decoder_cache = layer_outputs[2 if output_attentions else 1]
+
+            if output_attentions:
+                all_self_attns += (layer_outputs[1],)
+
+        hidden_states = self.norm(hidden_states)
+
+        # add hidden states from the last decoder layer
+        if output_hidden_states:
+            all_hidden_states += (hidden_states,)
+
+        next_cache = None
+        if use_cache:
+            next_cache = next_decoder_cache.to_legacy_cache() if use_legacy_cache else next_decoder_cache
+        if not return_dict:
+            return tuple(v for v in [hidden_states, next_cache, all_hidden_states, all_self_attns] if v is not None)
+        return BaseModelOutputWithPast(
+            last_hidden_state=hidden_states,
+            past_key_values=next_cache,
+            hidden_states=all_hidden_states,
+            attentions=all_self_attns,
+        )
+
+
+class MiniCPMForCausalLM(MiniCPMPreTrainedModel):
+    _tied_weights_keys = ['lm_head.weight']
+
+    def __init__(self, config):
+        super().__init__(config)
+        self.model = MiniCPMModel(config)
+        self.vocab_size = config.vocab_size
+        self.lm_head = nn.Linear(config.hidden_size, config.vocab_size, bias=False)
+
+        # Initialize weights and apply final processing
+        self.post_init()
+
+    def get_input_embeddings(self):
+        return self.model.embed_tokens
+
+    def set_input_embeddings(self, value):
+        self.model.embed_tokens = value
+
+    def get_output_embeddings(self):
+        return self.lm_head
+
+    def set_output_embeddings(self, new_embeddings):
+        self.lm_head = new_embeddings
+
+    def set_decoder(self, decoder):
+        self.model = decoder
+
+    def get_decoder(self):
+        return self.model
+
+    @add_start_docstrings_to_model_forward(MINICPM_INPUTS_DOCSTRING)
+    @replace_return_docstrings(output_type=CausalLMOutputWithPast, config_class=_CONFIG_FOR_DOC)
+    def forward(
+        self,
+        input_ids: torch.LongTensor = None,
+        attention_mask: Optional[torch.Tensor] = None,
+        position_ids: Optional[torch.LongTensor] = None,
+        past_key_values: Optional[List[torch.FloatTensor]] = None,
+        inputs_embeds: Optional[torch.FloatTensor] = None,
+        labels: Optional[torch.LongTensor] = None,
+        use_cache: Optional[bool] = None,
+        output_attentions: Optional[bool] = None,
+        output_hidden_states: Optional[bool] = None,
+        return_dict: Optional[bool] = None,
+        logits_to_keep: Union[int, torch.Tensor] = 0,
+        **kwargs,
+    ) -> Union[Tuple, CausalLMOutputWithPast]:
+        r"""
+        Args:
+            labels (`torch.LongTensor` of shape `(batch_size, sequence_length)`, *optional*):
+                Labels for computing the masked language modeling loss. Indices should either be in `[0, ...,
+                config.vocab_size]` or -100 (see `input_ids` docstring). Tokens with indices set to `-100` are ignored
+                (masked), the loss is only computed for the tokens with labels in `[0, ..., config.vocab_size]`.
+
+        Returns:
+
+        Example:
+
+        ```python
+        >>> from transformers import AutoTokenizer, MiniCPMForCausalLM
+
+        >>> model = MiniCPMForCausalLM.from_pretrained(PATH_TO_CONVERTED_WEIGHTS)
+        >>> tokenizer = AutoTokenizer.from_pretrained(PATH_TO_CONVERTED_TOKENIZER)
+
+        >>> prompt = "Hey, are you conscious? Can you talk to me?"
+        >>> inputs = tokenizer(prompt, return_tensors="pt")
+
+        >>> # Generate
+        >>> generate_ids = model.generate(inputs.input_ids, max_length=30)
+        >>> tokenizer.batch_decode(generate_ids, skip_special_tokens=True, clean_up_tokenization_spaces=False)[0]
+        "Hey, are you conscious? Can you talk to me?\nI'm not conscious, but I can talk to you."
+        ```"""
+        output_attentions = output_attentions if output_attentions is not None else self.config.output_attentions
+        output_hidden_states = (
+            output_hidden_states if output_hidden_states is not None else self.config.output_hidden_states
+        )
+        return_dict = return_dict if return_dict is not None else self.config.use_return_dict
+
+        # decoder outputs consists of (dec_features, layer_state, dec_hidden, dec_attn)
+        outputs = self.model(
+            input_ids=input_ids,
+            attention_mask=attention_mask,
+            position_ids=position_ids,
+            past_key_values=past_key_values,
+            inputs_embeds=inputs_embeds,
+            use_cache=use_cache,
+            output_attentions=output_attentions,
+            output_hidden_states=output_hidden_states,
+            return_dict=return_dict,
+        )
+
+        hidden_states = outputs[0]
+        # Only compute necessary logits, and do not upcast them to float if we are not computing the loss
+        slice_indices = slice(-logits_to_keep, None) if isinstance(logits_to_keep, int) else logits_to_keep
+        hidden_states = hidden_states[:, slice_indices, :].contiguous()
+        if self.config.pretraining_tp > 1:
+            lm_head_slices = self.lm_head.weight.split(self.vocab_size // self.config.pretraining_tp, dim=0)
+            logits = [F.linear(hidden_states, lm_head_slices[i]) for i in range(self.config.pretraining_tp)]
+            logits = torch.cat(logits, dim=-1)
+        else:
+            logits = self.lm_head(hidden_states / (self.config.hidden_size / self.config.dim_model_base))
+        logits = logits.float()
+
+        loss = None
+        if labels is not None:
+            # Shift so that tokens < n predict n
+            shift_logits = logits[..., :-1, :].contiguous()
+            shift_labels = labels[..., 1:].contiguous()
+            # Flatten the tokens
+            loss_fct = CrossEntropyLoss()
+            shift_logits = shift_logits.view(-1, self.config.vocab_size)
+            shift_labels = shift_labels.view(-1)
+            # Enable model parallelism
+            shift_labels = shift_labels.to(shift_logits.device)
+            loss = loss_fct(shift_logits, shift_labels)
+
+        if not return_dict:
+            output = (logits,) + outputs[1:]
+            return (loss,) + output if loss is not None else output
+
+        return CausalLMOutputWithPast(
+            loss=loss,
+            logits=logits,
+            past_key_values=outputs.past_key_values,
+            hidden_states=outputs.hidden_states,
+            attentions=outputs.attentions,
+        )
+
+    def prepare_inputs_for_generation(
+        self, input_ids, past_key_values=None, attention_mask=None, inputs_embeds=None, **kwargs
+    ):
+        if past_key_values is not None:
+            if isinstance(past_key_values, Cache):
+                # Use the new Cache class methods
+                cache_length = past_key_values.get_seq_length()
+
+                
+                past_length = cache_length
+                max_cache_length = None
+            else:
+                raise ValueError(
+                    'You must use the new past_key_values format, such as the Cache class, instead of the old tuple format.'
+                )
+
+            # Keep only the unprocessed tokens:
+            # 1 - If the length of the attention_mask exceeds the length of input_ids, then we are in a setting where
+            # some of the inputs are exclusively passed as part of the cache (e.g. when passing input_embeds as
+            # input)
+            if attention_mask is not None and attention_mask.shape[1] > input_ids.shape[1]:
+                input_ids = input_ids[:, -(attention_mask.shape[1] - past_length):]
+            # 2 - If the past_length is smaller than input_ids', then input_ids holds all input tokens. We can discard
+            # input_ids based on the past_length.
+            elif past_length < input_ids.shape[1]:
+                input_ids = input_ids[:, past_length:]
+            # 3 - Otherwise (past_length >= input_ids.shape[1]), let's assume input_ids only has unprocessed tokens.
+
+            # If we are about to go beyond the maximum cache length, we need to crop the input attention mask.
+            if (
+                max_cache_length is not None
+                and attention_mask is not None
+                and cache_length + input_ids.shape[1] > max_cache_length
+            ):
+                attention_mask = attention_mask[:, -max_cache_length:]
+
+        position_ids = kwargs.get('position_ids', None)
+        if attention_mask is not None and position_ids is None:
+            # create position_ids on the fly for batch generation
+            position_ids = attention_mask.long().cumsum(-1) - 1
+            position_ids.masked_fill_(attention_mask == 0, 1)
+            if past_key_values:
+                position_ids = position_ids[:, -input_ids.shape[1]:]
+
+        # if `inputs_embeds` are passed, we only want to use them in the 1st generation step
+        if inputs_embeds is not None and past_key_values is None:
+            model_inputs = {'inputs_embeds': inputs_embeds}
+        else:
+            model_inputs = {'input_ids': input_ids}
+
+        model_inputs.update(
+            {
+                'position_ids': position_ids,
+                'past_key_values': past_key_values,
+                'use_cache': kwargs.get('use_cache'),
+                'attention_mask': attention_mask,
+            }
+        )
+        # Forward ALL kwargs that are uninitialized (e.g. `use_cache`).
+        for key, value in kwargs.items():
+            if key not in model_inputs:
+                model_inputs[key] = value
+        return model_inputs
+
+    @staticmethod
+    def _reorder_cache(past_key_values, beam_idx):
+        reordered_past = ()
+        for layer_past in past_key_values:
+            reordered_past += (
+                tuple(past_state.index_select(0, beam_idx.to(past_state.device)) for past_state in layer_past),
+            )
+        return reordered_past
+
+    @torch.inference_mode()
+    def chat(self, tokenizer, query: str, history: List[Dict] = None, role: str = 'user',
+             max_length: int = 4096, num_beams=1, do_sample=True, top_p=0.8, temperature=0.3, logits_processor=None,
+             **kwargs):
+        if history is None:
+            history = []
+        if logits_processor:
+            gen_kwargs = {
+                'max_length': max_length,
+                'num_beams': num_beams,
+                'do_sample': do_sample,
+                'top_p': top_p,
+                'temperature': temperature,
+                'logits_processor': logits_processor,
+                **kwargs
+            }
+        else:
+            gen_kwargs = {
+                'max_length': max_length,
+                'num_beams': num_beams,
+                'do_sample': do_sample,
+                'top_p': top_p,
+                'temperature': temperature,
+                'logits_processor': logits_processor,
+                **kwargs
+            }
+
+        history.append({'role': role, 'content': query})
+        history_str = tokenizer.apply_chat_template(history, tokenize=False, add_generation_prompt=False)
+        inputs = tokenizer(history_str, return_tensors='pt').to(self.device)
+        outputs = self.generate(**inputs, **gen_kwargs)
+        outputs = outputs.tolist()[0][len(inputs['input_ids'][0]):-1]
+        response = tokenizer.decode(outputs)
+        pattern = re.compile(r'.*?(?=<AI>|<用户>)', re.DOTALL)
+        matches = pattern.findall(response)
+        if len(matches) > 0:
+            response = matches[0]
+        history.append({'role': 'assistant', 'content': response})
+        return response, history
+
+
+@add_start_docstrings(
+    """
+    The MiniCPM Model transformer with a sequence classification head on top (linear layer).
+
+    [`MiniCPMForSequenceClassification`] uses the last token in order to do the classification, as other causal models
+    (e.g. GPT-2) do.
+
+    Since it does classification on the last token, it requires to know the position of the last token. If a
+    `pad_token_id` is defined in the configuration, it finds the last token that is not a padding token in each row. If
+    no `pad_token_id` is defined, it simply takes the last value in each row of the batch. Since it cannot guess the
+    padding tokens when `inputs_embeds` are passed instead of `input_ids`, it does the same (take the last value in
+    each row of the batch).
+    """,
+    MINICPM_START_DOCSTRING,
+)
+class MiniCPMForSequenceClassification(MiniCPMPreTrainedModel):
+    def __init__(self, config):
+        super().__init__(config)
+        self.num_labels = config.num_labels
+        self.model = MiniCPMModel(config)
+        self.score = nn.Linear(config.hidden_size, self.num_labels, bias=False)
+
+        # Initialize weights and apply final processing
+        self.post_init()
+
+    def get_input_embeddings(self):
+        return self.model.embed_tokens
+
+    def set_input_embeddings(self, value):
+        self.model.embed_tokens = value
+
+    @add_start_docstrings_to_model_forward(MINICPM_INPUTS_DOCSTRING)
+    def forward(
+        self,
+        input_ids: torch.LongTensor = None,
+        attention_mask: Optional[torch.Tensor] = None,
+        position_ids: Optional[torch.LongTensor] = None,
+        past_key_values: Optional[List[torch.FloatTensor]] = None,
+        inputs_embeds: Optional[torch.FloatTensor] = None,
+        labels: Optional[torch.LongTensor] = None,
+        use_cache: Optional[bool] = None,
+        output_attentions: Optional[bool] = None,
+        output_hidden_states: Optional[bool] = None,
+        return_dict: Optional[bool] = None,
+    ) -> Union[Tuple, SequenceClassifierOutputWithPast]:
+        r"""
+        labels (`torch.LongTensor` of shape `(batch_size,)`, *optional*):
+            Labels for computing the sequence classification/regression loss. Indices should be in `[0, ...,
+            config.num_labels - 1]`. If `config.num_labels == 1` a regression loss is computed (Mean-Square loss), If
+            `config.num_labels > 1` a classification loss is computed (Cross-Entropy).
+        """
+        return_dict = return_dict if return_dict is not None else self.config.use_return_dict
+
+        transformer_outputs = self.model(
+            input_ids,
+            attention_mask=attention_mask,
+            position_ids=position_ids,
+            past_key_values=past_key_values,
+            inputs_embeds=inputs_embeds,
+            use_cache=use_cache,
+            output_attentions=output_attentions,
+            output_hidden_states=output_hidden_states,
+            return_dict=return_dict,
+        )
+        hidden_states = transformer_outputs[0]
+        logits = self.score(hidden_states)
+
+        if input_ids is not None:
+            batch_size = input_ids.shape[0]
+        else:
+            batch_size = inputs_embeds.shape[0]
+
+        if self.config.pad_token_id is None and batch_size != 1:
+            raise ValueError('Cannot handle batch sizes > 1 if no padding token is defined.')
+        if self.config.pad_token_id is None:
+            sequence_lengths = -1
+        else:
+            if input_ids is not None:
+                sequence_lengths = (torch.eq(input_ids, self.config.pad_token_id).int().argmax(-1) - 1).to(
+                    logits.device
+                )
+            else:
+                sequence_lengths = -1
+
+        pooled_logits = logits[torch.arange(batch_size, device=logits.device), sequence_lengths]
+
+        loss = None
+        if labels is not None:
+            labels = labels.to(logits.device)
+            if self.config.problem_type is None:
+                if self.num_labels == 1:
+                    self.config.problem_type = 'regression'
+                elif self.num_labels > 1 and (labels.dtype == torch.long or labels.dtype == torch.int):
+                    self.config.problem_type = 'single_label_classification'
+                else:
+                    self.config.problem_type = 'multi_label_classification'
+
+            if self.config.problem_type == 'regression':
+                loss_fct = MSELoss()
+                if self.num_labels == 1:
+                    loss = loss_fct(pooled_logits.squeeze(), labels.squeeze())
+                else:
+                    loss = loss_fct(pooled_logits, labels)
+            elif self.config.problem_type == 'single_label_classification':
+                loss_fct = CrossEntropyLoss()
+                loss = loss_fct(pooled_logits.view(-1, self.num_labels), labels.view(-1))
+            elif self.config.problem_type == 'multi_label_classification':
+                loss_fct = BCEWithLogitsLoss()
+                loss = loss_fct(pooled_logits, labels)
+        if not return_dict:
+            output = (pooled_logits,) + transformer_outputs[1:]
+            return ((loss,) + output) if loss is not None else output
+
+        return SequenceClassifierOutputWithPast(
+            loss=loss,
+            logits=pooled_logits,
+            past_key_values=transformer_outputs.past_key_values,
+            hidden_states=transformer_outputs.hidden_states,
+            attentions=transformer_outputs.attentions,
+        )

modeling_robottrack.py

@@ -0,0 +1,321 @@
+"""Hugging Face model implementation for MiniCPM-RobotTrack."""
+
+from contextlib import contextmanager
+from dataclasses import dataclass
+from typing import List, Optional, Tuple, Union
+
+import torch
+from torch import nn
+from transformers.modeling_utils import PreTrainedModel
+from transformers.utils import ModelOutput
+
+from .configuration_minicpm import MiniCPMConfig
+from .configuration_robottrack import MiniCPMRobotTrackConfig
+from .modeling_minicpm import MiniCPMModel
+
+
+@contextmanager
+def _default_dtype(dtype: torch.dtype):
+    previous = torch.get_default_dtype()
+    torch.set_default_dtype(dtype)
+    try:
+        yield
+    finally:
+        torch.set_default_dtype(previous)
+
+
+def _dtype_from_name(name: str) -> torch.dtype:
+    try:
+        dtype = getattr(torch, name)
+    except AttributeError as exc:
+        raise ValueError(f"unsupported backbone_dtype={name!r}") from exc
+    if not isinstance(dtype, torch.dtype) or not dtype.is_floating_point:
+        raise ValueError(f"backbone_dtype must name a floating-point torch dtype: {name!r}")
+    return dtype
+
+
+def _module_dtype(module: nn.Module) -> torch.dtype:
+    try:
+        return next(module.parameters()).dtype
+    except StopIteration:
+        return torch.float32
+
+
+class VisionProjector(nn.Module):
+    """Map concatenated DINOv3 and SigLIP features into MiniCPM space."""
+
+    def __init__(self, input_dim: int, hidden_dim: int) -> None:
+        super().__init__()
+        self.layers = nn.Sequential(
+            nn.LayerNorm(input_dim),
+            nn.Linear(input_dim, hidden_dim),
+            nn.GELU(),
+            nn.Linear(hidden_dim, hidden_dim),
+        )
+
+    def forward(self, features: torch.Tensor) -> torch.Tensor:
+        return self.layers(features)
+
+
+class TemporalMarkerEncoder(nn.Module):
+    """Build one marker token for each frame represented in the sequence."""
+
+    def __init__(self, hidden_dim: int, max_time_steps: int) -> None:
+        super().__init__()
+        self.time_embedding = nn.Embedding(max_time_steps, hidden_dim)
+        self.stream_embedding = nn.Embedding(2, hidden_dim)
+        self.camera_embedding = nn.Embedding(1, hidden_dim)
+
+    def forward(self, time_step: int, stream_id: int, device: torch.device) -> torch.Tensor:
+        time = torch.tensor([time_step], dtype=torch.long, device=device)
+        stream = torch.tensor([stream_id], dtype=torch.long, device=device)
+        camera = torch.zeros(1, dtype=torch.long, device=device)
+        return (
+            self.time_embedding(time)
+            + self.stream_embedding(stream)
+            + self.camera_embedding(camera)
+        ).squeeze(0)
+
+
+class FunnelTrajectoryHead(nn.Module):
+    """Six-layer funnel MLP that predicts a fixed waypoint trajectory."""
+
+    def __init__(
+        self,
+        hidden_dim: int,
+        num_waypoints: int,
+        action_dim: int,
+        dropout: float,
+        use_tanh: bool,
+    ) -> None:
+        super().__init__()
+        output_dim = num_waypoints * action_dim
+        self.num_waypoints = num_waypoints
+        self.action_dim = action_dim
+        self.use_tanh = use_tanh
+        self.layers = nn.Sequential(
+            nn.LayerNorm(hidden_dim),
+            nn.Linear(hidden_dim, 4096),
+            nn.GELU(),
+            nn.Dropout(dropout),
+            nn.Linear(4096, 1024),
+            nn.GELU(),
+            nn.Dropout(dropout),
+            nn.Linear(1024, 512),
+            nn.GELU(),
+            nn.Dropout(dropout),
+            nn.Linear(512, 256),
+            nn.GELU(),
+            nn.Dropout(dropout),
+            nn.Linear(256, 128),
+            nn.GELU(),
+            nn.Dropout(dropout),
+            nn.LayerNorm(128),
+            nn.Linear(128, output_dim),
+        )
+
+    def forward(self, control_state: torch.Tensor) -> torch.Tensor:
+        trajectory = self.layers(control_state)
+        if self.use_tanh:
+            trajectory = torch.tanh(trajectory)
+        return trajectory.view(-1, self.num_waypoints, self.action_dim)
+
+
+@dataclass
+class MiniCPMRobotTrackOutput(ModelOutput):
+    """Output of MiniCPM-RobotTrack."""
+
+    loss: Optional[torch.FloatTensor] = None
+    trajectories: Optional[torch.FloatTensor] = None
+
+
+class MiniCPMRobotTrackModel(PreTrainedModel):
+    """MiniCPM visual tracking policy with a funnel trajectory head."""
+
+    config_class = MiniCPMRobotTrackConfig
+    base_model_prefix = "backbone"
+    main_input_name = "input_ids"
+    supports_gradient_checkpointing = True
+    _supports_sdpa = True
+    _supports_flash_attn_2 = True
+    _no_split_modules = ["MiniCPMDecoderLayer"]
+
+    def __init__(self, config: MiniCPMRobotTrackConfig) -> None:
+        super().__init__(config)
+
+        backbone_config = MiniCPMConfig(**config.backbone_config)
+        attention_implementation = getattr(config, "_attn_implementation", None)
+        if attention_implementation is not None:
+            backbone_config._attn_implementation = attention_implementation
+        backbone_config.use_cache = False
+
+        backbone_dtype = _dtype_from_name(config.backbone_dtype)
+        with _default_dtype(backbone_dtype):
+            self.backbone = MiniCPMModel(backbone_config)
+
+        hidden_dim = int(backbone_config.hidden_size)
+        self.vision_projector = VisionProjector(config.vision_feature_dim, hidden_dim)
+        self.temporal_markers = TemporalMarkerEncoder(hidden_dim, config.max_time_steps)
+        self.control_query = nn.Parameter(torch.empty(1, 1, hidden_dim))
+        nn.init.normal_(self.control_query, mean=0.0, std=0.02)
+        self.trajectory_head = FunnelTrajectoryHead(
+            hidden_dim=hidden_dim,
+            num_waypoints=config.num_waypoints,
+            action_dim=config.action_dim,
+            dropout=config.trajectory_dropout,
+            use_tanh=config.use_tanh_actions,
+        )
+
+        output_scale = torch.ones(1, 1, config.action_dim, dtype=torch.float32)
+        output_scale[..., :2] = config.xy_scale
+        self.register_buffer("output_scale", output_scale)
+
+    def get_input_embeddings(self) -> nn.Module:
+        return self.backbone.get_input_embeddings()
+
+    def set_input_embeddings(self, value: nn.Module) -> None:
+        self.backbone.set_input_embeddings(value)
+
+    def _insert_temporal_markers(
+        self,
+        tokens: torch.Tensor,
+        time_indices: torch.Tensor,
+        stream_id: int,
+    ) -> torch.Tensor:
+        if tokens.ndim != 3 or time_indices.ndim != 2:
+            raise ValueError("visual tokens and time indices must have shapes [B, N, C] and [B, N]")
+        if tokens.shape[:2] != time_indices.shape:
+            raise ValueError("visual token and time-index shapes do not match")
+        if tokens.size(1) == 0:
+            return tokens
+
+        packed_rows: List[torch.Tensor] = []
+        time_rows = time_indices.detach().to("cpu").tolist()
+        for batch_index, time_row in enumerate(time_rows):
+            pieces: List[torch.Tensor] = []
+            start = 0
+            while start < len(time_row):
+                time_step = int(time_row[start])
+                if not 0 <= time_step < self.config.max_time_steps:
+                    raise ValueError(f"time index {time_step} is outside the configured range")
+                end = start + 1
+                while end < len(time_row) and int(time_row[end]) == time_step:
+                    end += 1
+                marker = self.temporal_markers(time_step, stream_id, tokens.device)
+                pieces.extend((marker.unsqueeze(0), tokens[batch_index, start:end]))
+                start = end
+            packed_rows.append(torch.cat(pieces, dim=0))
+
+        packed_lengths = {row.size(0) for row in packed_rows}
+        if len(packed_lengths) != 1:
+            raise ValueError("each batch item must contain the same number of represented frames")
+        return torch.stack(packed_rows, dim=0)
+
+    def _build_sequence(
+        self,
+        input_ids: torch.LongTensor,
+        attention_mask: Optional[torch.Tensor],
+        coarse_tokens: torch.Tensor,
+        coarse_time_indices: torch.Tensor,
+        fine_tokens: torch.Tensor,
+        fine_time_indices: torch.Tensor,
+    ) -> Tuple[torch.Tensor, torch.Tensor]:
+        device = self.control_query.device
+        input_ids = input_ids.to(device)
+        if attention_mask is None:
+            attention_mask = torch.ones_like(input_ids, dtype=torch.long)
+        else:
+            attention_mask = attention_mask.to(device)
+
+        batch_size = coarse_tokens.size(0)
+        if fine_tokens.size(0) != batch_size or input_ids.size(0) != batch_size:
+            raise ValueError("batch dimensions do not match")
+
+        projector_dtype = _module_dtype(self.vision_projector)
+        history = self.vision_projector(coarse_tokens.to(device=device, dtype=projector_dtype))
+        current = self.vision_projector(fine_tokens.to(device=device, dtype=projector_dtype))
+        history = self._insert_temporal_markers(
+            history, coarse_time_indices.to(device), stream_id=0
+        )
+        current = self._insert_temporal_markers(
+            current, fine_time_indices.to(device), stream_id=1
+        )
+        text = self.backbone.get_input_embeddings()(input_ids)
+
+        control_query = self.control_query.expand(batch_size, -1, -1)
+        sequence = torch.cat((text, history, current, control_query), dim=1)
+        sequence = sequence.to(dtype=_module_dtype(self.backbone))
+
+        full_attention_mask = torch.cat(
+            (
+                attention_mask,
+                torch.ones(batch_size, history.size(1), dtype=torch.long, device=device),
+                torch.ones(batch_size, current.size(1), dtype=torch.long, device=device),
+                torch.ones(batch_size, 1, dtype=torch.long, device=device),
+            ),
+            dim=1,
+        )
+        return sequence, full_attention_mask
+
+    def normalize_trajectory(self, trajectory: torch.Tensor) -> torch.Tensor:
+        return trajectory / self.output_scale.to(device=trajectory.device, dtype=trajectory.dtype)
+
+    def forward(
+        self,
+        input_ids: torch.LongTensor,
+        coarse_tokens: torch.Tensor,
+        coarse_time_indices: torch.Tensor,
+        fine_tokens: torch.Tensor,
+        fine_time_indices: torch.Tensor,
+        attention_mask: Optional[torch.Tensor] = None,
+        labels: Optional[torch.Tensor] = None,
+        valid_mask: Optional[torch.Tensor] = None,
+        return_dict: Optional[bool] = None,
+    ) -> Union[MiniCPMRobotTrackOutput, Tuple[torch.Tensor, ...]]:
+        return_dict = return_dict if return_dict is not None else self.config.use_return_dict
+        sequence, full_attention_mask = self._build_sequence(
+            input_ids=input_ids,
+            attention_mask=attention_mask,
+            coarse_tokens=coarse_tokens,
+            coarse_time_indices=coarse_time_indices,
+            fine_tokens=fine_tokens,
+            fine_time_indices=fine_time_indices,
+        )
+        output = self.backbone(
+            inputs_embeds=sequence,
+            attention_mask=full_attention_mask,
+            use_cache=False,
+            return_dict=True,
+        )
+        control_state = output.last_hidden_state[:, -1].to(
+            dtype=_module_dtype(self.trajectory_head)
+        )
+        normalized_trajectory = self.trajectory_head(control_state)
+        trajectories = normalized_trajectory * self.output_scale.to(
+            normalized_trajectory.dtype
+        )
+
+        loss = None
+        if labels is not None:
+            labels = labels.to(device=trajectories.device, dtype=trajectories.dtype)
+            if labels.shape != trajectories.shape:
+                raise ValueError("labels and predicted trajectories must have identical shapes")
+            normalized_labels = self.normalize_trajectory(labels)
+            squared_error = (normalized_trajectory - normalized_labels).square()
+            if valid_mask is None:
+                loss = squared_error.mean()
+            else:
+                mask = valid_mask.to(
+                    device=trajectories.device, dtype=trajectories.dtype
+                ).unsqueeze(-1)
+                denominator = mask.sum() * trajectories.size(-1)
+                loss = (
+                    squared_error.mul(mask).sum() / denominator
+                    if denominator.item() > 0
+                    else trajectories.sum() * 0.0
+                )
+
+        if not return_dict:
+            return (trajectories,) if loss is None else (loss, trajectories)
+        return MiniCPMRobotTrackOutput(loss=loss, trajectories=trajectories)
+

requirements.txt

@@ -0,0 +1,5 @@
+torch>=2.1
+transformers>=4.56,<5
+safetensors>=0.4
+sentencepiece>=0.1.99
+

special_tokens_map.json

@@ -0,0 +1,40 @@
+{
+  "additional_special_tokens": [
+    "<|im_end|>",
+    "<|im_start|>",
+    "<|tool_call|>",
+    "<|execute_start|>",
+    "<|execute_end|>",
+    "<|fim_prefix|>",
+    "<|fim_middle|>",
+    "<|fim_suffix|>"
+  ],
+  "bos_token": {
+    "content": "<s>",
+    "lstrip": false,
+    "normalized": false,
+    "rstrip": false,
+    "single_word": false
+  },
+  "eos_token": {
+    "content": "<|im_end|>",
+    "lstrip": false,
+    "normalized": false,
+    "rstrip": false,
+    "single_word": false
+  },
+  "unk_token": {
+    "content": "<unk>",
+    "lstrip": false,
+    "normalized": false,
+    "rstrip": false,
+    "single_word": false
+  },
+  "pad_token": {
+    "content": "<|im_end|>",
+    "lstrip": false,
+    "normalized": false,
+    "rstrip": false,
+    "single_word": false
+  }
+}

tokenizer.model

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb74d51116831c3bf65db812c553f94ab0c88dcf97a5bbb37e3504f6d359c530
+size 1181204

tokenizer_config.json

@@ -0,0 +1,117 @@
+{
+  "add_bos_token": true,
+  "add_eos_token": false,
+  "add_prefix_space": null,
+  "added_tokens_decoder": {
+    "0": {
+      "content": "<unk>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "1": {
+      "content": "<s>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "2": {
+      "content": "</s>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "73440": {
+      "content": "<|im_end|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "73441": {
+      "content": "<|im_start|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "73442": {
+      "content": "<|tool_call|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "73443": {
+      "content": "<|execute_start|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "73444": {
+      "content": "<|execute_end|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "73445": {
+      "content": "<|fim_prefix|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "73446": {
+      "content": "<|fim_middle|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "73447": {
+      "content": "<|fim_suffix|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    }
+  },
+  "additional_special_tokens": [
+    "<|im_end|>",
+    "<|im_start|>",
+    "<|tool_call|>",
+    "<|execute_start|>",
+    "<|execute_end|>",
+    "<|fim_prefix|>",
+    "<|fim_middle|>",
+    "<|fim_suffix|>"
+  ],
+  "bos_token": "<s>",
+  "chat_template": "{% for message in messages %}{{'<|im_start|>' + message['role'] + '\n' + message['content'] + '<|im_end|>' + '\n'}}{% endfor %}{% if add_generation_prompt %}{{ '<|im_start|>assistant\n' }}{% endif %}",
+  "clean_up_tokenization_spaces": false,
+  "eos_token": "<|im_end|>",
+  "legacy": true,
+  "model_max_length": 1000000000000000019884624838656,
+  "pad_token": "<|im_end|>",
+  "sp_model_kwargs": {},
+  "spaces_between_special_tokens": false,
+  "tokenizer_class": "LlamaTokenizer",
+  "unk_token": "<unk>",
+  "use_default_system_prompt": false
+}