RobotisSW/clean_table_60k

1{2  "action_horizon": 40,3  "add_pos_embed": true,4  "apply_sincos_state_encoding": false,5  "architectures": [6    "Gr00tN1d7"7  ],8  "attn_dropout": 0.2,9  "attn_implementation": null,10  "backbone_embedding_dim": 2048,11  "backbone_trainable_params_fp32": true,12  "color_jitter_params": {13    "brightness": 0.3,14    "contrast": 0.4,15    "hue": 0.08,16    "saturation": 0.517  },18  "crop_fraction": 0.95,19  "diffusion_model_cfg": {20    "attention_head_dim": 48,21    "dropout": 0.2,22    "final_dropout": true,23    "interleave_self_attention": true,24    "norm_type": "ada_norm",25    "num_attention_heads": 32,26    "num_layers": 32,27    "output_dim": 1024,28    "positional_embeddings": null29  },30  "dtype": "float32",31  "exclude_state": false,32  "formalize_language": true,33  "hidden_size": 1024,34  "image_crop_size": [35    230,36    23037  ],38  "image_target_size": [39    256,40    25641  ],42  "letter_box_transform": false,43  "load_bf16": false,44  "max_action_dim": 132,45  "max_num_embodiments": 32,46  "max_seq_len": 1024,47  "max_state_dim": 132,48  "model_dtype": "bfloat16",49  "model_name": "nvidia/Cosmos-Reason2-2B",50  "model_type": "Gr00tN1d7",51  "noise_beta_alpha": 1.5,52  "noise_beta_beta": 1.0,53  "noise_s": 0.999,54  "num_inference_timesteps": 4,55  "num_timestep_buckets": 1000,56  "random_history_crop": true,57  "random_rotation_angle": 0,58  "reproject_vision": false,59  "rtc_ramp_rate": 6.0,60  "select_layer": 16,61  "shortest_image_edge": 256,62  "state_dropout_prob": 0.2,63  "state_gaussian_noise_std": 0.0,64  "transformers_version": "4.57.3",65  "tune_diffusion_model": true,66  "tune_linear": true,67  "tune_llm": false,68  "tune_projector": true,69  "tune_top_llm_layers": 0,70  "tune_visual": false,71  "tune_vlln": true,72  "use_albumentations": true,73  "use_alternate_vl_dit": true,74  "use_flash_attention": true,75  "use_future_tokens": false,76  "use_mean_std": false,77  "use_percentiles": true,78  "use_vl_self_attention": true,79  "use_vlln": true,80  "vl_self_attention_cfg": {81    "attention_head_dim": 64,82    "dropout": 0.2,83    "final_dropout": true,84    "num_attention_heads": 32,85    "num_layers": 4,86    "positional_embeddings": null87  }88}89