| { |
| "action_manipulation_parts": [ |
| "left_arm", |
| "right_arm", |
| "left_hand", |
| "right_hand" |
| ], |
| "action_motion_parts": [ |
| "waist", |
| "navigate_command", |
| "base_height_command" |
| ], |
| "architectures": [ |
| "Gr00tN1d7" |
| ], |
| "backbone_trainable_params_fp32": true, |
| "color_jitter_params": { |
| "brightness": 0.2, |
| "contrast": 0.2, |
| "hue": 0.08, |
| "saturation": 0.2 |
| }, |
| "diffusion_model_cfg": { |
| "attention_head_dim": 48, |
| "dropout": 0.2, |
| "final_dropout": true, |
| "interleave_self_attention": true, |
| "norm_type": "ada_norm", |
| "num_attention_heads": 32, |
| "num_layers": 16, |
| "output_dim": 1024, |
| "positional_embeddings": null |
| }, |
| "dtype": "float32", |
| "enable_msfsi": false, |
| "extra_augmentation_config": null, |
| "load_bf16": false, |
| "manip_strength": 0.4, |
| "max_stage_dim": 4, |
| "model_name": "nvidia/Cosmos-Reason2-2B", |
| "model_type": "Gr00tN1d7", |
| "motion_strength": 0.8, |
| "msfsi_aux_loss_weight": 0.01, |
| "msfsi_hand_state_keys": [ |
| "left_hand", |
| "right_hand" |
| ], |
| "msfsi_num_experts": 6, |
| "msfsi_top_k": 2, |
| "msfsi_torque_window": 8, |
| "random_rotation_angle": 5, |
| "reproject_vision": false, |
| "state_dropout_prob": 0.1, |
| "transformers_version": "4.57.3", |
| "tune_diffusion_model": true, |
| "tune_llm": false, |
| "tune_msfsi": false, |
| "tune_projector": true, |
| "tune_visual": false, |
| "use_relative_action": true, |
| "use_stage_vector": false, |
| "use_task_label": false |
| } |
|
|
