{
  "action_dim": 32,
  "action_head_cfg": {
    "action_dim": 32,
    "action_horizon": 16,
    "add_pos_embed": true,
    "backbone_embedding_dim": 2048,
    "diffusion_model_cfg": {
      "attention_head_dim": 48,
      "cross_attention_dim": 2048,
      "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
    },
    "hidden_size": 1024,
    "input_embedding_dim": 1536,
    "max_action_dim": 32,
    "max_state_dim": 64,
    "model_dtype": "float32",
    "noise_beta_alpha": 1.5,
    "noise_beta_beta": 1.0,
    "noise_s": 0.999,
    "num_inference_timesteps": 4,
    "num_target_vision_tokens": 32,
    "num_timestep_buckets": 1000,
    "tune_diffusion_model": true,
    "tune_projector": 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
    }
  },
  "action_horizon": 16,
  "architectures": [
    "GR00T_N1_5"
  ],
  "attn_implementation": null,
  "backbone_cfg": {
    "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
    "load_bf16": false,
    "project_to_dim": null,
    "reproject_vision": false,
    "select_layer": 12,
    "tune_llm": false,
    "tune_visual": true,
    "use_flash_attention": true
  },
  "clvla_action_teacher": {
    "combine": "arithmetic_mean_of_mean_normalized_position_rotation_and_raw01_gripper",
    "command_to_physical": {
      "allow_robocasa_controller_fallback": false,
      "checkpoint_embed_contract_and_hashes": true,
      "contract_path": "/home/work/workspace/test/seonho/groot_libero/teacher_stats/actionq_libero_controller_contract.json",
      "input_clip_range": [
        -1.0,
        1.0
      ],
      "method": "verified_libero_osc_pose_controller_scaling",
      "require_control_delta": true,
      "rotation_scale_rad": 0.5,
      "source": "libero_controller_and_dataset_conversion_provenance",
      "translation_scale_m": 0.05,
      "verify_before_fitting": true
    },
    "component_normalization": {
      "checkpoint_embed_statistics_and_dataset_hashes": true,
      "component_methods": {
        "gripper": "identity",
        "position": "mean_including_zero",
        "rotation": "mean_including_zero"
      },
      "degenerate_component_policy": "error",
      "fit_before_training": true,
      "fit_pair_count": 200000,
      "fit_pair_sampling": "uniform_unique_unordered_chunk_pairs",
      "fit_pair_scope": "all_tasks_all_episodes",
      "fit_sample_scope": "all_h16_valid_training_chunks",
      "fit_seed": 42,
      "fit_source": "training_dataset_only",
      "gripper_fixed_scale": 1.0,
      "include_zero_component_distances": true,
      "method": "fixed_training_pair_mean_position_rotation_unscaled_gripper",
      "minimum_scale": 1e-08,
      "recompute_per_minibatch": false,
      "same_pairs_for_all_components": true,
      "statistics_path": "/home/work/workspace/test/seonho/groot_libero/teacher_stats/actionq_relative_linear_so3_h16_pairs200000_seed42.json"
    },
    "component_weights": {
      "gripper": 0.3333333333333333,
      "position": 0.3333333333333333,
      "rotation": 0.3333333333333333
    },
    "coordinate_normalization": {
      "checkpoint_embed_statistics_and_dataset_hashes": true,
      "coordinates": [
        "position_x",
        "position_y",
        "position_z"
      ],
      "ddof": 0,
      "epsilon": 1e-12,
      "fit_before_training": true,
      "fit_sample_scope": "all_h16_valid_training_chunks_all_tasks_all_episodes",
      "fit_source": "training_dataset_only",
      "method": "fixed_training_horizon_axis_zscore",
      "order": "raw_command_to_physical_then_representation_then_coordinate_normalization",
      "recompute_per_minibatch": false,
      "shape": [
        16,
        3
      ],
      "statistics_path": "/home/work/workspace/test/seonho/groot_libero/teacher_stats/actionq_relative_position_h16_zscore_train.json"
    },
    "distance_formula": "(d_P / mu_P + d_R / mu_R + d_g) / 3",
    "flattened_dimension": 112,
    "gripper_distance": "binary_gripper_horizon_rms",
    "gripper_encoding": {
      "equivalent_mapping": "(raw + 1) / 2",
      "method": "binary_command_greater_than_threshold",
      "normalization": "none",
      "one_semantics": "close",
      "raw_values": [
        -1.0,
        1.0
      ],
      "require_verified_binary_source": true,
      "threshold": 0.0,
      "values": [
        0.0,
        1.0
      ],
      "zero_semantics": "open"
    },
    "gripper_slice": [
      6,
      7
    ],
    "horizon": 16,
    "horizon_indices": [
      0,
      1,
      2,
      3,
      4,
      5,
      6,
      7,
      8,
      9,
      10,
      11,
      12,
      13,
      14,
      15
    ],
    "mode": "relative_linear_so3",
    "position_distance": "normalized_position_horizon_coordinate_rms",
    "position_slice": [
      0,
      3
    ],
    "raw_column": "actions",
    "representation": {
      "gripper": "binary_future_command_sequence",
      "position": "origin_reset_cumulative_physical_delta_sum",
      "position_frame": "origin_reset_base_aligned_axes",
      "rotation": "ordered_composition_of_physical_delta_rotations",
      "rotation_composition": "left_ordered_DeltaRk_through_DeltaR0",
      "rotation_initial": "identity",
      "rotation_update": "R_k = DeltaR_k @ R_previous; R_previous starts at identity",
      "trajectory_semantics": "controller_command_derived_not_observed_robot_motion"
    },
    "resolved_component_statistics": {
      "aggregation": "arithmetic_mean",
      "audit_pairs_sha256": "68f092bb004ee4700d805ef030568a7413cb2d6f810561d99aeebdd86f8266dd",
      "audit_results_sha256": "8dfdbf4d2e3f3d77ee1d73a416822b6877466e9b5a0a4ce2b58bc8afef2e0b8b",
      "audit_statistics_sha256": "6b928f782f4846081d5dfbbb4a203e4890fdb404863f41fcd73c396bd52c593b",
      "component_means": [
        1.3075921579973595,
        0.5634396527251435,
        1.0
      ],
      "component_order": [
        "position",
        "rotation",
        "gripper"
      ],
      "dataset_hashes": {
        "episodes.jsonl": "0479a2ced6117700e4638a1da54dccd9f60ae5f47485ea6d91390c869befcf08",
        "info.json": "77c0da93c67960bac803a8ea25dabf380d752c26c1d91c54151121dd10e7d82f",
        "stats.json": "1fe6c2d548a7998394488ae68bc2be46a51c8cd3798af6ab74fff79f8b20e293",
        "tasks.jsonl": "e72ef3cf7ca7a3abe70b3e142a0d1acf2719d2a3f27598869092cc4f1762bb99"
      },
      "format": "libero_actionq_relative_linear_v1",
      "normalization": "zero_inclusive_mean_P_R_identity_gripper",
      "numeric_actions_and_task_sha256": "ff0594f197cd6a802efc24aa49be66041f83fc742dcbf5abc69d74f3b468d6a0",
      "pair_count": 200000,
      "pair_seed": 42,
      "pairs_sha256": "0b7f0a87cff37d94c296ad265080d33187404488072094a45924ae0c077c1670",
      "training_only": true,
      "valid_chunks": 248070
    },
    "resolved_component_statistics_sha256": "fc4d10d88593bea30d7d25e2bf8944b860e9fba325f8268787a8e1d5209aa69c",
    "resolved_controller_contract": {
      "audit_pairs_sha256": "68f092bb004ee4700d805ef030568a7413cb2d6f810561d99aeebdd86f8266dd",
      "audit_results_sha256": "8dfdbf4d2e3f3d77ee1d73a416822b6877466e9b5a0a4ce2b58bc8afef2e0b8b",
      "audit_statistics_sha256": "6b928f782f4846081d5dfbbb4a203e4890fdb404863f41fcd73c396bd52c593b",
      "controller": {
        "control_delta": true,
        "damping_ratio": 1,
        "damping_ratio_limits": [
          0,
          10
        ],
        "impedance_mode": "fixed",
        "input_max": 1,
        "input_min": -1,
        "interpolation": null,
        "kp": 150,
        "kp_limits": [
          0,
          300
        ],
        "orientation_limits": null,
        "output_max": [
          0.05,
          0.05,
          0.05,
          0.5,
          0.5,
          0.5
        ],
        "output_min": [
          -0.05,
          -0.05,
          -0.05,
          -0.5,
          -0.5,
          -0.5
        ],
        "position_limits": null,
        "ramp_ratio": 0.2,
        "type": "OSC_POSE",
        "uncouple_pos_ori": true
      },
      "dataset_hashes": {
        "episodes.jsonl": "0479a2ced6117700e4638a1da54dccd9f60ae5f47485ea6d91390c869befcf08",
        "info.json": "77c0da93c67960bac803a8ea25dabf380d752c26c1d91c54151121dd10e7d82f",
        "stats.json": "1fe6c2d548a7998394488ae68bc2be46a51c8cd3798af6ab74fff79f8b20e293",
        "tasks.jsonl": "e72ef3cf7ca7a3abe70b3e142a0d1acf2719d2a3f27598869092cc4f1762bb99"
      },
      "format": "libero_actionq_controller_v1",
      "gripper_encoding": {
        "conversion": "(raw+1)/2 == (raw>0)",
        "one_means": "close",
        "raw_values": [
          -1.0,
          1.0
        ],
        "teacher_values": [
          0.0,
          1.0
        ],
        "zero_means": "open"
      },
      "numeric_actions_and_task_sha256": "ff0594f197cd6a802efc24aa49be66041f83fc742dcbf5abc69d74f3b468d6a0",
      "rotation_composition": "R_k=DeltaR_k @ R_(k-1), R_-1=I",
      "source_hashes": {
        "/home/work/workspace/test/seonho/clvla/Isaac-GR00T-N1.5/clvla/eval/.runtime/venvs/libero/lib/python3.10/site-packages/robosuite/controllers/base_controller.py": "61f99a2daeb4eb6e39bfb996d94c5a5689ef3bc771d030d070193ea56d6a8332",
        "/home/work/workspace/test/seonho/clvla/Isaac-GR00T-N1.5/clvla/eval/.runtime/venvs/libero/lib/python3.10/site-packages/robosuite/controllers/config/osc_pose.json": "07f3a8b41d3eecc8a36700a85bd8207ee3fbc36eb73f6a2248340c96770d1e45",
        "/home/work/workspace/test/seonho/clvla/Isaac-GR00T-N1.5/clvla/eval/.runtime/venvs/libero/lib/python3.10/site-packages/robosuite/controllers/osc.py": "cfa62a0e719bc53ef0c701efa66f7b3e2272d4fca2150ec73c05bb145eba85cb",
        "/home/work/workspace/test/seonho/clvla/Isaac-GR00T-N1.5/clvla/eval/.runtime/venvs/libero/lib/python3.10/site-packages/robosuite/utils/control_utils.py": "1d0f1a063894b1e8289339e223665e14e8aec492c31e9e00f42edea8dc735f43",
        "/home/work/workspace/test/seonho/clvla/Isaac-GR00T-N1.5/examples/Libero/custom_data_config.py": "a7a4b8505227a1d5652095368e8eac213aa0d1982e9311d4a4848d8b093d6f06",
        "/home/work/workspace/test/seonho/clvla/Isaac-GR00T-N1.5/examples/Libero/eval/utils.py": "2dda759627742c7a4d1368d23fb53858c0568a75e3e9bfb89381a77ad9d108f6",
        "/home/work/workspace/test/seonho/clvla/Isaac-GR00T-N1.5/examples/Libero/modality.json": "10baab3498ec74928fa4b03ae003d42ae7e05c5287effdcb1f271eea01c6552e",
        "/home/work/workspace/test/seonho/clvla/Isaac-GR00T-N1.5/external_dependencies/LIBERO/libero/libero/envs/env_wrapper.py": "a782fb76c9792268d28979474fe72849e1e98ada49c8e997a65359a8d6b6acd0",
        "/home/work/workspace/test/seonho/clvla/Isaac-GR00T-N1.5/gr00t/data/dataset.py": "cb4a8b016dd9d56c61c041b20b179e761c3b6f060e07b4427e4973c1fc719381",
        "/home/work/workspace/test/seonho/clvla/Isaac-GR00T-N1.5/gr00t/data/schema.py": "079aa355934fb99530fc98d447b20c3ede4b352091ac8615c46e5709182fb594"
      },
      "training_only": true,
      "valid_chunks": 248070
    },
    "resolved_controller_contract_sha256": "f9effead9c5f1abd6ea23c662f287e8e8b6ed328e387c76ca99a84ff62afe725",
    "resolved_coordinate_statistics": {
      "audit_pairs_sha256": "68f092bb004ee4700d805ef030568a7413cb2d6f810561d99aeebdd86f8266dd",
      "audit_results_sha256": "8dfdbf4d2e3f3d77ee1d73a416822b6877466e9b5a0a4ce2b58bc8afef2e0b8b",
      "audit_statistics_sha256": "6b928f782f4846081d5dfbbb4a203e4890fdb404863f41fcd73c396bd52c593b",
      "dataset_hashes": {
        "episodes.jsonl": "0479a2ced6117700e4638a1da54dccd9f60ae5f47485ea6d91390c869befcf08",
        "info.json": "77c0da93c67960bac803a8ea25dabf380d752c26c1d91c54151121dd10e7d82f",
        "stats.json": "1fe6c2d548a7998394488ae68bc2be46a51c8cd3798af6ab74fff79f8b20e293",
        "tasks.jsonl": "e72ef3cf7ca7a3abe70b3e142a0d1acf2719d2a3f27598869092cc4f1762bb99"
      },
      "format": "libero_actionq_coordinates_v1",
      "kind": "cumulative_position3",
      "mean": [
        [
          0.0035963781446899366,
          0.00456596333467853,
          -0.0049596254485024865
        ],
        [
          0.007122815633318237,
          0.00915372873119503,
          -0.010001220127854883
        ],
        [
          0.010566028664828276,
          0.013761267312482816,
          -0.015115538015888922
        ],
        [
          0.01390728386761176,
          0.01838740429491882,
          -0.02029310849967923
        ],
        [
          0.017124950862428302,
          0.023031720189956723,
          -0.025523692173872754
        ],
        [
          0.020199808763723286,
          0.02769619420555443,
          -0.030795210794383767
        ],
        [
          0.023116917412243324,
          0.032384793396104075,
          -0.036094614869145926
        ],
        [
          0.02586578527766736,
          0.03710281508540994,
          -0.04140744959275867
        ],
        [
          0.028439583390331258,
          0.04185557657314548,
          -0.046718933531296726
        ],
        [
          0.030834718834401524,
          0.04664718096375616,
          -0.0520142425998106
        ],
        [
          0.03305045413079538,
          0.05148117096432868,
          -0.057278757328883545
        ],
        [
          0.03508771247792136,
          0.05636014664732629,
          -0.06249700037633014
        ],
        [
          0.03694820044366053,
          0.06128593659363552,
          -0.06765586718217433
        ],
        [
          0.0386340527220242,
          0.06625927720252722,
          -0.07274434091072546
        ],
        [
          0.04014836175797207,
          0.07128059714041804,
          -0.07775401019748057
        ],
        [
          0.041495505455963054,
          0.07634954818327558,
          -0.08267778315028312
        ]
      ],
      "numeric_actions_and_task_sha256": "ff0594f197cd6a802efc24aa49be66041f83fc742dcbf5abc69d74f3b468d6a0",
      "shape": [
        16,
        3
      ],
      "std": [
        [
          0.017207286271757875,
          0.019627066758494145,
          0.02253413981718848
        ],
        [
          0.03433876036126682,
          0.03919369946780125,
          0.04502185858088386
        ],
        [
          0.0513145302144787,
          0.05865111012357984,
          0.06737928995379269
        ],
        [
          0.06806126530089752,
          0.07795483321535714,
          0.08952712855691107
        ],
        [
          0.0845131273105326,
          0.09706613973714377,
          0.11139521443252541
        ],
        [
          0.10061204798392459,
          0.11595190123056692,
          0.13292076978385423
        ],
        [
          0.1163084105833806,
          0.1345832306864575,
          0.1540469700131607
        ],
        [
          0.1315604423840751,
          0.1529348569682423,
          0.17472194029315932
        ],
        [
          0.1463336764317742,
          0.1709847970255913,
          0.1948993000009278
        ],
        [
          0.16060052544358563,
          0.1887140091818793,
          0.21453716022682728
        ],
        [
          0.17433758794541904,
          0.20610695112978128,
          0.23359956761018486
        ],
        [
          0.1875261062388834,
          0.22315081092709582,
          0.2520546718264271
        ],
        [
          0.20015284820393642,
          0.23983530487316043,
          0.26987723179715206
        ],
        [
          0.21220990680196478,
          0.2561530975309858,
          0.2870481072954178
        ],
        [
          0.22369371269958319,
          0.2720996511513446,
          0.30355285963727524
        ],
        [
          0.23460471438226796,
          0.2876721975250926,
          0.3193808048910358
        ]
      ],
      "training_only": true,
      "valid_chunks": 248070
    },
    "resolved_coordinate_statistics_sha256": "e314a7b166311137c2bee9f0e8a716bd242ebdaa3dceb51aef79678bdde8a133",
    "rotation_angle_algorithm": "relative_quaternion_atan2_vector_norm_absolute_scalar",
    "rotation_distance": "physical_so3_geodesic_horizon_rms_radians",
    "rotation_slice": [
      3,
      6
    ],
    "rotation_source_representation": "axis_angle_delta_command",
    "source": "raw_libero_actions_before_policy_transform",
    "target_dimension_per_step": 7,
    "validity": {
      "episode_boundary_policy": "exclude_padded_chunks_from_rkd",
      "invalid_sample_policy": "keep_flow_matching_exclude_rkd_pairs",
      "pair_requires_both_samples_valid": true,
      "require_full_horizon": true,
      "same_valid_samples_for_both_teachers": true
    }
  },
  "clvla_auxiliary": {
    "action_loss_weight": 1.0,
    "action_teacher_enabled": true,
    "cross_attention_mode": "stock_h_context",
    "direct_q_supervision": true,
    "gradient_clip_max_norm": 1.0,
    "gradient_clipping": "joint_main_policy",
    "h_token_bottleneck": false,
    "isolated_query_initialization": true,
    "loss_weight": 1.0,
    "loss_weight_end": 1.0,
    "loss_weight_schedule": "constant",
    "policy_query_stop_gradient": false,
    "query_count": 1,
    "query_dim": 1536,
    "query_init_seed": 10042,
    "query_init_std": 0.02,
    "query_location": "after_future_before_action",
    "query_norm_mode": "stock_ada_norm",
    "relation_projector": false,
    "relation_tap_block": 7,
    "self_attention_mode": "stock_all_to_all",
    "source": "h_stock",
    "state_loss_weight": 0.0,
    "train_seed": 42
  },
  "clvla_inference_only_patch": false,
  "clvla_lm_logits_to_keep": 1,
  "clvla_query_order": [
    "action"
  ],
  "clvla_relation_mode": "action_only",
  "clvla_schema_version": "clvla_n15_internal_action_relation_query_v1",
  "clvla_variant": "internal_action_relation_query",
  "compute_dtype": "bfloat16",
  "hidden_size": 2048,
  "model_dtype": "float32",
  "model_type": "gr00t_n1_5",
  "torch_dtype": "bfloat16",
  "transformers_version": "4.51.3"
}