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{
"_class_name": "GigaBrain0Policy",
"_diffusers_version": "0.34.0",
"action_loss_vlm_gradient_weight": 0.1,
"agent_pos_config": {
"state": 32
},
"compact_language_logits": true,
"crossdit_attention_head_dim": 64,
"crossdit_num_target_vision_tokens": 32,
"detach_history_frames": true,
"enable_knowledge_insulation": true,
"enable_learnable_traj_token": false,
"enable_next_token_prediction": true,
"expert_intermediate_size": null,
"expert_type": "dual_stream",
"fast_token_tail_skip_tokens": 128,
"fast_token_tail_vocab_size": null,
"fast_token_vocab_mode": "tail",
"fast_vocab_size": 2048,
"flow_action_horizon": 50,
"gemma3_config_dict": null,
"gemma3_expert_final_norm_ada": false,
"gemma3_expert_full_attends_prefix": false,
"gemma3_gate_self_mlp": true,
"gemma4_config_dict": null,
"gemma4_expert_cross_attend_shared_layers": false,
"gemma4_expert_final_norm_ada": true,
"gemma4_expert_full_attends_prefix": false,
"has_action_expert": true,
"language_loss_checkpoint": true,
"language_loss_chunk_size": 0,
"max_action_dim": 32,
"max_state_dim": 32,
"max_traj_dim": 4,
"n_action_steps": 50,
"num_embodiments": 8,
"num_steps": 10,
"num_traj_tokens": 10,
"observation_memory_size": 1,
"proj_width": 1024,
"proj_with_mask": true,
"propri_token_id": 257153,
"qwen2_5_vl_config_dict": null,
"qwen3_5_config_dict": null,
"qwen3_vl_config_dict": null,
"qwen3_vl_expert_adarms_base": false,
"robomanip_attention_head_dim": 64,
"robomanip_cross_attn_modality_alternating": true,
"robomanip_ff_dim": null,
"robomanip_num_layers": 10,
"robomanip_num_query_tokens": 0,
"state_hidden_size": 2048,
"state_input_mode": "proprio_anchor",
"temporal_attention_interval": 4,
"traj_hidden_dim": 256,
"use_cache": true,
"vision_in_channels": 3,
"vlm_hidden_size": 2304,
"vlm_type": "paligemma2"
}