{ | |
"chunk_size": 100, | |
"dim_feedforward": 3200, | |
"dim_model": 512, | |
"dropout": 0.1, | |
"feedforward_activation": "relu", | |
"input_normalization_modes": { | |
"observation.images.laptop": "mean_std", | |
"observation.images.phone": "mean_std", | |
"observation.state": "mean_std" | |
}, | |
"input_shapes": { | |
"observation.images.laptop": [ | |
3, | |
480, | |
640 | |
], | |
"observation.images.phone": [ | |
3, | |
480, | |
640 | |
], | |
"observation.state": [ | |
12 | |
] | |
}, | |
"kl_weight": 10.0, | |
"latent_dim": 32, | |
"n_action_steps": 100, | |
"n_decoder_layers": 4, | |
"n_encoder_layers": 4, | |
"n_heads": 8, | |
"n_obs_steps": 1, | |
"n_vae_encoder_layers": 4, | |
"output_normalization_modes": { | |
"action": "mean_std" | |
}, | |
"output_shapes": { | |
"action": [ | |
12 | |
] | |
}, | |
"pre_norm": false, | |
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", | |
"replace_final_stride_with_dilation": false, | |
"temporal_ensemble_coeff": null, | |
"use_vae": true, | |
"vision_backbone": "resnet18" | |
} |