{
  "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
}