| { |
| "checkpoint_type": "hf", |
| "cosmos3_nano_sim_auto": { |
| "attention_mode": "multiview", |
| "cameras": [ |
| "camera_front_wide_120fov", |
| "camera_cross_right_120fov", |
| "camera_rear_right_70fov", |
| "camera_rear_tele_30fov", |
| "camera_rear_left_70fov", |
| "camera_cross_left_120fov", |
| "camera_front_tele_30fov", |
| "camera_front_fisheye_200fov", |
| "camera_left_fisheye_200fov", |
| "camera_right_fisheye_200fov", |
| "camera_rear_fisheye_200fov" |
| ], |
| "checkpoint_hash": "1c13c34424f1a040f9a7b4a73c469059a4347b50de730e7a7b7bbe8657577b49", |
| "checkpoint_id": "sim_auto_joint_stage3_sfdmd_mads_all@iter_000001800", |
| "checkpoint_iteration": 1800, |
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| "fixed_step_sampler_config": { |
| "num_train_timesteps": 1000, |
| "sample_type": "sde", |
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| 0.9375, |
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| "guidance": 1.0, |
| "resolution": "480" |
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| "dtype": "float32", |
| "fps": 10.0, |
| "latent_channels": 128, |
| "network_config": { |
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| "bottleneck_3d": true, |
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| "bottleneck_3d_max_t": 32, |
| "bottleneck_3d_rope": true, |
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| 3, |
| 3, |
| 3 |
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| 1, |
| 1, |
| 1 |
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| "formulation": "VAE", |
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| 8 |
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| false |
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| 45 |
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| "z_dim": 128 |
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| "azimuth_endpoint": false, |
| "azimuth_start_degrees": 180.0, |
| "coordinate_system": "x_forward_y_left_z_up", |
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| "sensor": "pandar128", |
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| "streaming_context_frames": 21, |
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| "mrope": { |
| "base_fps": 30.0, |
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| "reset_spatial_ids": true, |
| "temporal_modality_margin": 15000 |
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| "prompt": { |
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| "emphasize_control_in_prompt": false, |
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| "media_rope_scale": 1.0, |
| "media_text_extent": null, |
| "policy": "segmented", |
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| "system_prompt_joint": "av_joint_camera_lidar_transfer", |
| "system_prompt_rgb": "av_multiview_transfer", |
| "text_cache_max_len": 16384, |
| "text_position_mode": "fixed", |
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| "attention_scope": "decomposed", |
| "clean_pass_causality": "chunk", |
| "control_visibility": "causal", |
| "controls_read_strict_past_clean_rgb": true, |
| "cross_view_past_window_seconds": 0.4, |
| "deduplicate_cross_view": true, |
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| "camera_cross_right_120fov": 1, |
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| "video_temporal_causal": true |
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| "source_weights": "regular", |
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| } |
