MagistrTheOne/NULLXES-AMATERASU

NULLXES AMATERASU-32B v0.1

Author: MagistrTheOne | NULLXES
Hub: MagistrTheOne/NULLXES-AMATERASU
Code: github.com/MagistrTheOne/NULLXES-AMATERASU

From-scratch Embodied Agency Foundation Model. Native format amaterasu-ckpt-v1. Not Transformers, not π0 / GR00T / OpenVLA / Qwen / Llama weights. Do not AutoModel.from_pretrained.

Identity

model_id	AMATERASU-32B-v0.1
format	amaterasu-ckpt-v1
frozen_total	31,740,290,560
freeze_hash	c1ff97b33d3f9280ccd5e066306a3ade4a23d8d7bbec484a3faa523a476129c2
init dtype	fp32 shards
train dtype	bf16

Architecture

d_model	4096
attention	GQA 32 / 8 / 128
FFN	SwiGLU d_ff=11008
HPT	40 layers: Fast 12, Slow dense 8, Physical MoE 20
MoE	8 routed + 1 shared, top-2
vocab	65536, untied wte + lm_head
vision	36-layer encoder, train 224×224, T_CLIP=16, N_CAM_MAX=6
NCES	6 layers, 128-d in, N_NODES_MAX=64
clocks	Slow ~2–5 Hz, Fast ~30–100 Hz

Parameter ledger

component	params
vision_encoder	1,605,837,824
embeddings	537,001,984
shared_hpt_attn_norm	1,677,895,680
vision_ffns	5,410,816,000
language_ffns	3,787,571,200
physical_dense_ffns	2,705,408,000
physical_experts	9,060,433,920
agency_ffns	3,787,571,200
nces_encoder	274,490,880
audio_encoder	59,879,424
tactile	17,825,792
ssm	428,032,000
memory	194,523,648
latent_dynamics	830,523,392
eac_gcis	799,404,544
flow	546,491,392
ecd	16,583,680
TOTAL	31,740,290,560

Files in this repo

file	what
README.md	this card
amaterasu_32b_v0.1.json	freeze config (native, not Transformers config.json)
manifest.json	amaterasu-ckpt-v1 identity + weight map
model.safetensors.index.json	Hub shard index (same weight map). Not Transformers.
*.safetensors	51 freeze shards, ~119 GB fp32. nces.safetensors is Circuit-0 overlay
metrics.json	circuit-0 run metrics

No Transformers config.json. Hub Parameters chip reads model.safetensors.index.json + shard headers. Source of truth is still frozen_total above.

Circuit-0 (this release)

• Data: HiFi-UMI-2K parquet only (CC BY 4.0). No video. No intent_label (hand motion ≠ ACT).
• Trainable: nces only (274,490,880). Rest of freeze graph frozen.
• Hardware: 1× NVIDIA H200 141 GB, bf16 autocast. Not full 32B AdamW.
• Gate: finite L_mm, checkpoint write, resume from amaterasu-ckpt-v1.
• Overlay: trained NCES replaces freeze nces.safetensors. Total stays 31,740,290,560.

Load

Use AMATERASU resume_modules on this repo's 51 shards. Do not AutoModel.from_pretrained.