{
  "action_horizon": 40,
  "add_pos_embed": true,
  "apply_sincos_state_encoding": false,
  "architectures": [
    "Gr00tN1d7"
  ],
  "attn_dropout": 0.2,
  "attn_implementation": null,
  "backbone_embedding_dim": 2048,
  "backbone_lr": 1e-05,
  "backbone_trainable_params_fp32": true,
  "color_jitter_params": {
    "brightness": 0.3,
    "contrast": 0.4,
    "hue": 0.08,
    "saturation": 0.5
  },
  "crop_fraction": 0.95,
  "detach_action_head_backbone_input": false,
  "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": 32,
    "output_dim": 1024,
    "positional_embeddings": null
  },
  "dtype": "float32",
  "enable_motion_head": false,
  "enable_ot_align": false,
  "exclude_state": false,
  "formalize_language": true,
  "hidden_size": 1024,
  "image_crop_size": [
    230,
    230
  ],
  "image_target_size": [
    256,
    256
  ],
  "letter_box_transform": false,
  "load_bf16": false,
  "max_action_dim": 132,
  "max_motion_objects": 1,
  "max_num_embodiments": 32,
  "max_seq_len": 1024,
  "max_state_dim": 132,
  "model_dtype": "bfloat16",
  "model_name": "nvidia/Cosmos-Reason2-2B",
  "model_type": "Gr00tN1d7",
  "motion_horizon": 16,
  "motion_loss_weight": 0.1,
  "motion_points_per_object": 8,
  "motion_relative": true,
  "motion_static_weight": 0.0,
  "noise_beta_alpha": 1.5,
  "noise_beta_beta": 1.0,
  "noise_s": 0.999,
  "num_inference_timesteps": 4,
  "num_motion_tokens": 8,
  "num_timestep_buckets": 1000,
  "ot_align_pre_vlln": true,
  "ot_align_weight": 2,
  "ot_differentiable_plan": false,
  "ot_matching_use_absolute_position": false,
  "ot_max_sw_ascent_lr": 0.1,
  "ot_max_sw_ascent_steps": 10,
  "ot_max_sw_restarts": 1,
  "ot_method": "token_sinkhorn",
  "ot_num_projections": 50,
  "ot_plan_backbone_cost_weight": 1.0,
  "ot_point_level_mass_floor": 1e-06,
  "ot_point_level_matching": true,
  "ot_sinkhorn_eps": 0.1,
  "ot_sinkhorn_max_iters": 1000,
  "ot_sinkhorn_scaling": 0.5,
  "ot_sinkhorn_tol": 0.0001,
  "ot_start_step": 0,
  "ot_target_l2_normalize": true,
  "ot_token_sinkhorn_backend": "tensorized",
  "ot_token_sinkhorn_eps": 0.1,
  "ot_token_sinkhorn_max_tokens": 128,
  "ot_token_sinkhorn_scaling": 0.5,
  "ot_unbalanced_tau": 0.1,
  "ot_unbalanced_tau_human": null,
  "ot_variance_eps": 1e-08,
  "ot_variance_floor": 0.0001,
  "ot_variance_reg_weight": 0.0,
  "ot_warmup_steps": 1000,
  "random_history_crop": true,
  "random_rotation_angle": 0,
  "reproject_vision": false,
  "rtc_ramp_rate": 6.0,
  "select_layer": 16,
  "shortest_image_edge": 256,
  "state_dropout_prob": 0.2,
  "state_gaussian_noise_std": 0.0,
  "transformers_version": "4.57.3",
  "tune_diffusion_model": true,
  "tune_linear": true,
  "tune_llm": false,
  "tune_llm_layer_indices": null,
  "tune_projector": true,
  "tune_top_llm_layers": 4,
  "tune_visual": false,
  "tune_vlln": true,
  "use_albumentations": true,
  "use_alternate_vl_dit": true,
  "use_flash_attention": true,
  "use_future_tokens": false,
  "use_mean_std": false,
  "use_percentiles": true,
  "use_vl_self_attention": true,
  "use_vlln": true,
  "vl_self_attention_cfg": {
    "attention_head_dim": 64,
    "dropout": 0.2,
    "final_dropout": true,
    "num_attention_heads": 32,
    "num_layers": 4,
    "positional_embeddings": null
  }
}