| { | |
| "hri": { | |
| "observation_dim": 768, | |
| "motion_dim": 768, | |
| "instruction_dim": 768, | |
| "proprio_dim": 8, | |
| "action_dim": 7, | |
| "trust_dim": 512, | |
| "hidden_dim": 768, | |
| "trust_tokens": 50, | |
| "action_horizon": 50, | |
| "num_heads": 12, | |
| "context_layers": 3, | |
| "flow_layers": 12, | |
| "decoder_layers": 8, | |
| "mlp_ratio": 4.0, | |
| "dropout": 0.1, | |
| "smooth_l1_beta": 1.0, | |
| "bound_actions": false | |
| }, | |
| "conditioning": { | |
| "feature_dim": 768, | |
| "spatial_grid": 8, | |
| "motion_grid": 4, | |
| "max_prompt_bytes": 256, | |
| "prompt_heads": 12, | |
| "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" | |
| } | |
| } | |