Cosmos
Diffusers
Safetensors
cosmos3_omni
nvidia
cosmos3
omnimodel
Cosmos3-Nano-Sim-Auto / config.json
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{
"allow_patterns_overrides": [
"*/*.safetensors"
],
"architectures": [
"Cosmos3ForConditionalGeneration"
],
"backbone_type": "cosmos3_multiview",
"cosmos3_nano_sim_auto": {
"checkpoint_hash": "1c13c34424f1a040f9a7b4a73c469059a4347b50de730e7a7b7bbe8657577b49",
"checkpoint_id": "sim_auto_joint_stage3_sfdmd_mads_all@iter_000001800",
"checkpoint_iteration": 1800,
"schema_version": 1
},
"image_token_id": 151655,
"model": {
"_recursive_": false,
"_target": "omni_mot_causal_model",
"config": {
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"action_gen": false,
"action_global_asinh": false,
"action_io_projector_type": "domain_aware",
"action_metric_gripper": false,
"action_schema": "native",
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"determinism_check": "default",
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"mode": "full",
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"preserve_rng_state": true,
"save_only_marked_ops": false,
"save_ops_regex": [
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"_flash_attn_varlen_forward",
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]
},
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"attention_io_layout": "sequence_sharded",
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"compile": {
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},
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"fixed_step_sampler_config": {
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0.625
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},
"flex_attention": {
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"mask": {
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},
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}
},
"maskless_cross_view_band_keys": "other_views",
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"rigrope_missing_geometry": "error",
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"rigrope_pose_world_frame": "scene",
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},
"grad_clip": true,
"input_caption_key": "ai_caption",
"input_image_key": "images",
"input_video_key": "video",
"joint_attn_implementation": "multiview",
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"kv_cache_kernel_impl": "triton",
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"method": "local"
},
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"bucket_name": "bucket",
"device": "cuda",
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"network_config": {
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3
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1
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"formulation": "VAE",
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false,
false
],
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false,
false
],
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],
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"range_projection": {
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"azimuth_end_degrees": -180.0,
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"coordinate_system": "x_forward_y_left_z_up",
"intensity_encoding": "unit",
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"return_selection": "nearest",
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"sensor": "pandar128",
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},
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"lora_target_modules": "q_proj_moe_gen,k_proj_moe_gen,v_proj_moe_gen,o_proj_moe_gen",
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}
},
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"rigrope_pose_world_frame": "scene",
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"natten_parameter_list": null,
"net": null,
"num_embodiment_domains": 32,
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"parallelism": {
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"data_parallel_replicate_degree": 1,
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"enable_inference_mode": false,
"fsdp_cpu_offload": false,
"fsdp_master_dtype": "float32",
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"vae_load_balance_group_size": 1
},
"precision": "bfloat16",
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"rectified_flow_inference_config": {
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"num_train_timesteps": 1000,
"scheduler_type": "unipc",
"shift": 1,
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},
"rectified_flow_training_config": {
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"independent_action_schedule": false,
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"lidar_loss_scale": 200.0,
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"shift": {
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},
"shift_action": null,
"shift_image": null,
"shift_lidar": null,
"shift_sound": null,
"sound_loss_scale": null,
"train_time_action_distribution": "logitnormal",
"train_time_image_distribution": "logitnormal",
"train_time_sound_distribution": "logitnormal",
"train_time_video_distribution": "uniform",
"train_time_weight": "uniform",
"use_discrete_rf": false,
"use_dynamic_shift": false
},
"release_cp_raw_batch_after_preprocessing": false,
"resolution": "720",
"rolling_kv_cache_chunks": 2,
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"rolling_media_rope_scale": 1.0,
"rolling_media_sink_age_cap_seconds": null,
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"rolling_prompt_context_after": 0,
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"sigma_diffusion_forcing": 0.02,
"sound_dim": null,
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"sound_latent_fps": 25,
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"bucket_name": "bucket",
"hop_size": 1920,
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"latent_mean": null,
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"normalization_type": "none",
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"sample_rate": 48000,
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},
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"state_ch": 48,
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"control_visibility": "causal",
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"decomposed_temporal_window_seconds": 0.4,
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"teacher_forcing_target_only_no_text_pass2": false,
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},
"video_temporal_causal": true,
"vision_gen": true,
"vlm_config": {
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"model_instance": {
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"config": {
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"base_config": {
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"json_file": "cosmos3://vfm/models/vlm/qwen3_vl/configs/Qwen3-VL-8B-Instruct.json"
},
"qk_norm_for_text": true
}
},
"model_name": "nvidia/Cosmos3-Nano-Reasoner",
"pretrained_weights": {
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"backbone_path": "",
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"credentials_path": "",
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},
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},
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}
}
},
"model_type": "cosmos3_omni",
"per_view_caption_task": "av_joint_camera_lidar_transfer",
"per_view_captions": true,
"text_config": {
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}