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Safetensors
gr00t_n1_5
GR00T-N1.5-3B / config.json
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{
"action_dim": 32,
"action_head_cfg": {
"action_dim": 32,
"action_horizon": 16,
"add_pos_embed": true,
"backbone_embedding_dim": 2048,
"diffusion_model_cfg": {
"attention_head_dim": 48,
"cross_attention_dim": 2048,
"dropout": 0.2,
"final_dropout": true,
"interleave_self_attention": true,
"norm_type": "ada_norm",
"num_attention_heads": 32,
"num_layers": 16,
"output_dim": 1024,
"positional_embeddings": null
},
"hidden_size": 1024,
"input_embedding_dim": 1536,
"max_action_dim": 32,
"max_state_dim": 64,
"model_dtype": "float32",
"noise_beta_alpha": 1.5,
"noise_beta_beta": 1.0,
"noise_s": 0.999,
"num_inference_timesteps": 4,
"num_target_vision_tokens": 32,
"num_timestep_buckets": 1000,
"tune_diffusion_model": true,
"tune_projector": true,
"use_vlln": true,
"vl_self_attention_cfg": {
"attention_head_dim": 64,
"dropout": 0.2,
"final_dropout": true,
"num_attention_heads": 32,
"num_layers": 4,
"positional_embeddings": null
}
},
"action_horizon": 16,
"architectures": [
"GR00T_N1_5"
],
"backbone_cfg": {
"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
"load_bf16": false,
"project_to_dim": null,
"reproject_vision": false,
"select_layer": 12,
"tune_llm": false,
"tune_visual": true,
"use_flash_attention": true
},
"hidden_size": 2048,
"model_dtype": "float32",
"model_type": "gr00t_n1_5",
"torch_dtype": "bfloat16",
"transformers_version": "4.51.3"
}