{ "_class_name": "Cosmos3OmniTransformer", "_diffusers_version": "0.39.0", "action_dim": 32, "action_gen": false, "attention_bias": false, "attention_dropout": 0.0, "backbone_type": "cosmos3_multiview", "base_fps": 30.0, "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, "chunk": { "frames_per_chunk": 3 }, "fixed_step_sampler_config": { "num_train_timesteps": 1000, "sample_type": "sde", "t_list": [ 1.0, 0.9375, 0.8333333333333334, 0.625 ] }, "inference_defaults": { "control_guidance": 1.0, "fps": 30.0, "guidance": 1.0, "resolution": "480" }, "lidar": { "apply_validity_mask": true, "dtype": "float32", "fps": 10.0, "latent_channels": 128, "network_config": { "base_channels": 128, "bottleneck_3d": true, "bottleneck_3d_causal_time": true, "bottleneck_3d_max_t": 32, "bottleneck_3d_rope": true, "depths": [ 3, 3, 3, 3 ], "dilation": [ 1, 1, 1, 1 ], "formulation": "VAE", "in_channels": 3, "mapping_depth": 2, "mask_as_input": false, "mlp_ratio": 3.0, "num_heads": [ 4, 4, 8, 8 ], "out_channels": 3, "patch_size": [ 2, 2 ], "positional_embedding": "learnable_embedding", "resolution": [ 128, 1808 ], "temporal_downsample": [ false, false, false ], "temporal_upsample": [ false, false, false ], "window_size": [ 5, 45 ], "z_dim": 128 }, "range_projection": { "azimuth_end_degrees": -180.0, "azimuth_endpoint": false, "azimuth_start_degrees": 180.0, "coordinate_system": "x_forward_y_left_z_up", "intensity_encoding": "unit", "invalid_range_m": 0.0, "max_range_m": 100.0, "min_range_m": 5.0, "model_width": 1808, "model_width_transform": "circular_pad", "native_height": 128, "native_width": 3600, "return_selection": "nearest", "semantic_height": 128, "semantic_width": 1800, "sensor": "pandar128", "validity_threshold": 0.5 }, "sample_posterior": false, "spatial_compression": [ 16, 16 ], "streaming_chunk_frames": 20, "streaming_context_frames": 21, "temporal_compression_factor": 1 }, "lidar_latent_patch_size_hw": [ 1, 1 ], "mrope": { "base_fps": 30.0, "enable_fps_modulation": true, "reset_spatial_ids": true, "temporal_modality_margin": 15000 }, "prompt": { "context_after": 0, "context_before": 0, "emphasize_control_in_prompt": false, "fractional_duration": false, "media_rope_scale": 1.0, "media_text_extent": null, "policy": "segmented", "sink_age_cap_seconds": null, "system_prompt_joint": "av_joint_camera_lidar_transfer", "system_prompt_rgb": "av_multiview_transfer", "text_cache_max_len": 16384, "text_position_mode": "fixed", "text_sink_tokens": 4, "use_first_chunk_only": true }, "replay": { "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, "lidar_attends_captions": true }, "rgb": { "latent_channels": 48, "latent_patch_size": 2, "temporal_compression_factor": 4, "vae_spatial_compression_factor": 16 }, "rig_view_embedding": { "camera_ids": { "camera_cross_left_120fov": 5, "camera_cross_right_120fov": 1, "camera_front_fisheye_200fov": 7, "camera_front_tele_30fov": 6, "camera_front_wide_120fov": 0, "camera_left_fisheye_200fov": 8, "camera_rear_fisheye_200fov": 10, "camera_rear_left_70fov": 4, "camera_rear_right_70fov": 2, "camera_rear_tele_30fov": 3, "camera_right_fisheye_200fov": 9 }, "lidar_id": 11, "num_embeddings": 12 }, "ring": { "cache_chunks": 2, "sink_chunks": 1 }, "schema_version": 1, "video_temporal_causal": true }, "enable_fps_modulation": true, "head_dim": 128, "hidden_act": "silu", "hidden_size": 4096, "intermediate_size": 12288, "joint_attn_implementation": "multiview", "latent_channel": 48, "latent_patch_size": 2, "num_attention_heads": 32, "num_embodiment_domains": 32, "num_hidden_layers": 36, "num_key_value_heads": 8, "patch_latent_dim": 192, "qk_norm_for_text": true, "rms_norm_eps": 1e-06, "rope_axes_dim": [ 24, 20, 20 ], "rope_scaling": { "mrope_interleaved": true, "mrope_section": [ 24, 20, 20 ], "rope_type": "default" }, "rope_theta": 5000000, "sound_dim": null, "sound_gen": false, "sound_latent_fps": 25, "temporal_compression_factor": 4, "timestep_scale": 0.001, "unified_3d_mrope_reset_spatial_ids": true, "unified_3d_mrope_temporal_modality_margin": 15000, "use_und_k_norm_for_gen": false, "video_temporal_causal": true, "vocab_size": 151936 }