{ "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_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": 2, "query_dim": 1536, "query_init_seeds": { "action": 10043, "state": 10042 }, "query_init_std": 0.02, "query_location": "after_future_before_action", "query_norm_mode": "stock_ada_norm", "query_order": [ "state", "action" ], "relation_projector": false, "relation_tap_block": 7, "self_attention_mode": "stock_all_to_all", "source": "dit_internal_relation_queries", "state_loss_weight": 1.0, "train_seed": 42 }, "clvla_query_order": [ "state", "action" ], "clvla_schema_version": "clvla_n15_internal_state_action_relation_query_v1", "clvla_variant": "internal_state_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" }