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hri_diff
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{
  "hri": {
    "observation_dim": 512,
    "motion_dim": 512,
    "instruction_dim": 512,
    "proprio_dim": 8,
    "action_dim": 7,
    "trust_dim": 512,
    "hidden_dim": 512,
    "trust_tokens": 50,
    "action_horizon": 50,
    "num_heads": 8,
    "context_layers": 2,
    "flow_layers": 8,
    "decoder_layers": 6,
    "mlp_ratio": 4.0,
    "dropout": 0.1,
    "smooth_l1_beta": 1.0,
    "bound_actions": false
  },
  "conditioning": {
    "feature_dim": 512,
    "spatial_grid": 8,
    "motion_grid": 4,
    "max_prompt_bytes": 256,
    "prompt_heads": 8,
    "dropout": 0.1
  },
  "tokenizer": {
    "horizon": 50,
    "mask_size": 64,
    "trust_dim": 512,
    "hidden_dim": 1024,
    "depth_scale_m": 3.0
  },
  "training_contract": {
    "trust_tail": "forward-fill-last-causal-target",
    "decoder_trust": "linear-flow-clean-estimate-curriculum",
    "action_history": "two-pass-self-conditioning-curriculum"
  }
}