{
  "S": 256,
  "T": 12,
  "action_contrastive_loss": false,
  "action_domains": [
    "bridge_data_v2",
    "fractal20220817_data",
    "language_table",
    "ucsd_pick_and_place_dataset_converted_externally_to_rlds",
    "kaist_nonprehensile_converted_externally_to_rlds",
    "ucsd_kitchen_dataset_converted_externally_to_rlds",
    "utokyo_xarm_bimanual_converted_externally_to_rlds",
    "stanford_hydra_dataset_converted_externally_to_rlds",
    "austin_sirius_dataset_converted_externally_to_rlds",
    "berkeley_fanuc_manipulation",
    "berkeley_mvp_converted_externally_to_rlds",
    "berkeley_rpt_converted_externally_to_rlds",
    "cmu_play_fusion",
    "iamlab_cmu_pickup_insert_converted_externally_to_rlds",
    "qut_dexterous_manpulation",
    "robo_net",
    "furniture_bench_dataset_converted_externally_to_rlds",
    "dlr_sara_grid_clamp_converted_externally_to_rlds",
    "cmu_stretch",
    "spoc",
    "columbia_cairlab_pusht_real",
    "droid",
    "toto",
    "io_ai_tech",
    "conq_hose_manipulation",
    "dobbe",
    "berkeley_gnm_cory_hall",
    "plex_robosuite",
    "usc_cloth_sim_converted_externally_to_rlds",
    "berkeley_cable_routing",
    "imperial_wrist_dataset",
    "bc_z",
    "kuka",
    "roboturk",
    "metaworld",
    "robomimic",
    "epic_kitchen",
    "ego4d",
    "nyu_door_opening_surprising_effectiveness"
  ],
  "action_loss_weight": 0.5,
  "action_network": "concat+modulate",
  "action_stats": [
    [
      [
        0.0005091051571071148,
        0.00015454298409167677,
        0.0008503405260853469,
        2.549389682826586e-05,
        -0.0016934372251853347,
        0.0001974346669157967,
        0.5945848822593689
      ],
      [
        0.01032705046236515,
        0.015463403426110744,
        0.014627186581492424,
        0.027947312220931053,
        0.02963864989578724,
        0.10752595961093903,
        0.48598647117614746
      ]
    ],
    [
      [
        7.725676368863788e-06,
        1.0291715035748439e-08,
        1.0607171134324744e-05,
        0.021814998239278793,
        0.04335036501288414,
        -0.005775672383606434,
        0.0009348704479634762,
        0.02302502654492855,
        0.951511561870575,
        0.0024383722338825464,
        0.006974320858716965,
        0.006260569207370281,
        -0.012636600062251091
      ],
      [
        0.002023447770625353,
        5.1052771596005186e-05,
        0.005440520588308573,
        0.36035439372062683,
        0.15620605647563934,
        0.131776362657547,
        0.14597612619400024,
        0.14867420494556427,
        0.21220634877681732,
        0.04925995320081711,
        0.06934574991464615,
        0.06012243032455444,
        0.07359173148870468
      ]
    ],
    [
      [
        0.00014842326345387846,
        -0.0005635050474666059
      ],
      [
        0.030163198709487915,
        0.042305462062358856
      ]
    ],
    [
      [
        0.14784614741802216,
        -0.12238457798957825,
        0.05175986886024475,
        -0.0750587061047554
      ],
      [
        0.4859539568424225,
        0.46922266483306885,
        0.5474159717559814,
        0.892055869102478
      ]
    ],
    [
      [
        0.0018891734071075916,
        0.00020449502335395664,
        0.0008909617899917066,
        -0.002328932750970125,
        0.00014602410374209285,
        -0.0036141453310847282,
        180.55873107910156,
        170.33209228515625,
        185.4281768798828,
        151.96224975585938,
        174.7725372314453,
        82.36817169189453,
        31.219266891479492,
        1.0021777153015137,
        0.6951844692230225,
        0.33550527691841125,
        0.48643627762794495,
        0.49088379740715027,
        0.7387751340866089,
        1.2315938472747803
      ],
      [
        0.014649114571511745,
        0.016541698947548866,
        0.012851938605308533,
        0.023206548765301704,
        0.020458899438381195,
        0.01998721994459629,
        28.153791427612305,
        34.738853454589844,
        25.903417587280273,
        53.904666900634766,
        32.97977066040039,
        50.42049789428711,
        31.806129455566406,
        0.532600998878479,
        0.4410288631916046,
        0.1271168440580368,
        0.375587522983551,
        0.33406388759613037,
        0.39596208930015564,
        0.5636153817176819
      ]
    ],
    [
      [
        411.012451171875,
        115.89311218261719,
        192.7315216064453,
        -122.11846160888672,
        -34.10114288330078,
        50.14624786376953,
        0.7442169785499573,
        0.03775591775774956
      ],
      [
        123.2818832397461,
        108.88812255859375,
        129.3837127685547,
        115.44219970703125,
        27.88010025024414,
        40.964500427246094,
        0.4363022744655609,
        0.1906062811613083
      ]
    ],
    [
      [
        0.46005550026893616,
        0.10042445361614227,
        0.2565317451953888,
        -1.49611496925354,
        -0.05020594596862793,
        -0.49960270524024963,
        0.3615054190158844,
        0.4448537826538086,
        0.5080803632736206,
        0.26795846223831177,
        1.0428096055984497,
        0.13593977689743042,
        0.07739049196243286,
        0.33761394023895264
      ],
      [
        0.05466218292713165,
        0.057073455303907394,
        0.04310256987810135,
        2.5955734252929688,
        0.18967270851135254,
        0.24594734609127045,
        0.4793280363082886,
        0.06319230049848557,
        0.042976442724466324,
        0.04913073033094406,
        2.780755043029785,
        0.29540929198265076,
        0.7207639217376709,
        0.4693118929862976
      ]
    ],
    [
      [
        0.0007806111825630069,
        0.00014432442549150437,
        -0.0002542313886806369,
        0.0012392610078677535,
        -0.004758258815854788,
        0.002720650052651763,
        0.5114527940750122
      ],
      [
        0.008004522882401943,
        0.009107149206101894,
        0.009566642343997955,
        0.04117538407444954,
        0.038478001952171326,
        0.04605141654610634,
        0.4997573792934418
      ]
    ],
    [
      [
        0.07752787321805954,
        0.03168660029768944,
        0.04253425449132919,
        0.0,
        0.0,
        -0.01578887365758419,
        0.13820601999759674
      ],
      [
        0.39060941338539124,
        0.2989002466201782,
        0.27805662155151367,
        0.0,
        0.0,
        0.08069407194852829,
        0.9916107058525085
      ]
    ],
    [
      [
        0.0007780246087349951,
        -0.0003209571004845202,
        -0.0015096653951331973,
        -0.0007919073104858398,
        -0.0001698181586107239,
        0.0001668699405854568
      ],
      [
        0.0033910737838596106,
        0.0049757580272853374,
        0.005356575828045607,
        0.007685699500143528,
        0.004107887391000986,
        0.008493276312947273
      ]
    ],
    [
      [
        -6.816067616455257e-05,
        0.0032774528954178095,
        -0.00014815537724643946,
        -0.0009022713056765497,
        -2.8410413506207988e-05,
        -0.0028941172640770674,
        -0.0007027793908491731,
        0.48355934023857117
      ],
      [
        0.002599249128252268,
        0.012856663204729557,
        0.005673616658896208,
        0.018063854426145554,
        0.0016916567692533135,
        0.021029461175203323,
        0.005813282448798418,
        0.49965402483940125
      ]
    ],
    [
      [
        0.00013238923565950245,
        -0.0002748446131590754,
        -1.063202307705069e-05,
        -0.0003201523795723915,
        1.9412083929637447e-05,
        2.8738231776515022e-05,
        4.167715087532997e-05,
        0.47832271456718445
      ],
      [
        0.001529942499473691,
        0.00453608063980937,
        0.00077804084867239,
        0.0030119596049189568,
        0.0010617133229970932,
        0.005115122999995947,
        0.0041729300282895565,
        0.4998096525669098
      ]
    ],
    [
      [
        0.0005282792262732983,
        3.792543429881334e-05,
        -0.00017229391960427165,
        -0.0002936247910838574,
        -0.0003607820253819227,
        -0.00015651936701033264,
        3.999160526291234e-06,
        0.5698255300521851,
        0.0024680662900209427
      ],
      [
        0.0017995948437601328,
        0.0023995412047952414,
        0.0018815182847902179,
        0.03787316754460335,
        0.036895327270030975,
        0.0051568918861448765,
        0.0063850656151771545,
        0.49463561177253723,
        0.04957345128059387
      ]
    ],
    [
      [
        0.5278156995773315,
        0.027324192225933075,
        0.18753373622894287,
        -0.013062607496976852,
        0.9998879432678223,
        0.0036541626323014498,
        0.016103636473417282,
        0.5530186891555786
      ],
      [
        0.08116760849952698,
        0.11193274706602097,
        0.07751200348138809,
        0.016174238175153732,
        0.0006333293858915567,
        0.007865803316235542,
        0.013844785280525684,
        0.4971791207790375
      ]
    ],
    [
      [
        -1.0947237569780555e-05,
        -0.0005107750184834003,
        -0.0003358577669132501,
        0.0009847612818703055,
        -4.268335032975301e-05,
        -0.002284084912389517,
        0.00044375265133567154,
        -0.0035538373049348593
      ],
      [
        0.012695086188614368,
        0.015595865435898304,
        0.012070356868207455,
        0.0009854151867330074,
        0.002212227089330554,
        0.02389119192957878,
        0.9998002648353577,
        0.027204347774386406
      ]
    ],
    [
      [
        0.00024059691349975765,
        -0.0002765821700450033,
        -0.007495959755033255,
        0.001606731559149921,
        -0.006666666828095913
      ],
      [
        0.03234556317329407,
        0.03240759298205376,
        0.09059711545705795,
        0.17567689716815948,
        0.9999619126319885
      ]
    ],
    [
      [
        0.00014585924509447068,
        0.0010840297909453511,
        0.0006219727802090347,
        -0.0011805534595623612,
        -0.0002698474272619933,
        0.009135263971984386,
        0.9928883910179138,
        0.023449113592505455
      ],
      [
        0.016102593392133713,
        0.014900527894496918,
        0.014007486402988434,
        0.028777308762073517,
        0.05673017352819443,
        0.1638830006122589,
        0.02685263752937317,
        1.0003585815429688
      ]
    ],
    [
      [
        -1.758056714606937e-05,
        -3.7838817661395296e-05,
        -0.00038337393198162317,
        2.7642881832434796e-05,
        8.176987466868013e-05,
        6.723385740770027e-05,
        1.0
      ],
      [
        0.0004286598414182663,
        0.0005066184094175696,
        0.0012515239650383592,
        0.0005647603538818657,
        0.0007578085060231388,
        0.000697559560649097,
        0.0
      ]
    ],
    [
      [
        0.0003578192263375968,
        0.0,
        0.0016306436154991388,
        0.0,
        0.0,
        0.0,
        0.3986235558986664,
        0.005404492374509573
      ],
      [
        0.004071093630045652,
        0.0,
        0.003779628314077854,
        0.0,
        0.0,
        0.0,
        0.4895978569984436,
        0.07332254946231842
      ]
    ],
    [
      [
        -0.6983144283294678,
        0.13209794461727142,
        0.0039050180930644274,
        0.0022984833922237158,
        1.080454707145691,
        0.007018118165433407,
        0.0022595408372581005,
        0.011918018572032452,
        0.002541287336498499
      ],
      [
        23.353342056274414,
        0.30039435625076294,
        0.05812933295965195,
        0.04016513004899025,
        8.097066879272461,
        0.08314091712236404,
        0.047434594482183456,
        0.1077399030327797,
        0.05028529092669487
      ]
    ],
    [
      [
        0.0,
        0.0,
        0.0,
        0.0,
        0.0097132483497262,
        -0.0013603067491203547,
        0.0015324887353926897,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0,
        0.0,
        0.09806635230779648,
        0.01324226800352335,
        0.0157295111566782,
        0.0
      ]
    ],
    [
      [
        0.5393299460411072,
        0.0013205910800024867,
        0.3156873285770416,
        0.31605127453804016,
        -0.09015484154224396,
        -0.04938371106982231,
        0.4098437428474426
      ],
      [
        0.11740713566541672,
        0.1749163120985031,
        0.16180050373077393,
        2.7441937923431396,
        0.3496316969394684,
        0.7599275708198547,
        0.430283784866333
      ]
    ],
    [
      [
        0.0,
        -0.664889395236969,
        0.19378533959388733,
        0.03492932394146919,
        0.006112735718488693,
        0.3858254551887512,
        0.006408770103007555,
        0.3634810745716095
      ],
      [
        0.0,
        0.5742393732070923,
        0.29617878794670105,
        0.32670700550079346,
        0.07788320630788803,
        0.12196606397628784,
        0.1935708373785019,
        0.10228537768125534
      ]
    ],
    [
      [
        2.9126644221832976e-05,
        0.00012177458847872913,
        -0.00010258024121867493,
        -7.230440678540617e-05,
        0.00022300859563983977,
        7.248757901834324e-05,
        0.08678723871707916
      ],
      [
        0.0028375224210321903,
        0.002654739422723651,
        0.0025536646135151386,
        0.017998138442635536,
        0.024928707629442215,
        0.02371523156762123,
        0.5916166305541992
      ]
    ],
    [
      [
        0.010949725285172462,
        -0.0022855771239846945,
        -0.005606506951153278,
        0.005102947819977999,
        0.028554478660225868,
        0.010207906365394592,
        0.6073462963104248
      ],
      [
        0.037630267441272736,
        0.022229386493563652,
        0.04602375999093056,
        0.057648736983537674,
        0.14510659873485565,
        0.07890969514846802,
        0.4869178235530853
      ]
    ],
    [
      [
        -0.00010904707596637309,
        0.001118879416026175,
        -0.000113105088530574,
        -7.428864046232775e-05,
        -0.0006643814849667251,
        -5.145822433405556e-05,
        0.6308034658432007
      ],
      [
        0.04345196858048439,
        0.0452333502471447,
        0.12535300850868225,
        0.00519426679238677,
        0.011263296939432621,
        0.006335486192256212,
        0.39740097522735596
      ]
    ],
    [
      [
        0.06118948012590408,
        0.0038687449414283037
      ],
      [
        0.02585630863904953,
        0.00309689249843359
      ]
    ],
    [
      [
        0.06141459941864014,
        0.052588578313589096,
        -0.041776858270168304,
        -0.0006756950169801712,
        -0.00152083788998425,
        0.003654239699244499,
        -0.05188782885670662
      ],
      [
        0.3462270498275757,
        0.46296226978302,
        0.43901339173316956,
        0.023543866351246834,
        0.01941801607608795,
        0.161599263548851,
        0.9985517263412476
      ]
    ],
    [
      [
        0.10499999672174454,
        0.03899981826543808,
        3.1370865107016588e-12,
        0.28803354501724243
      ],
      [
        0.20360185205936432,
        0.22257499396800995,
        0.36332041025161743,
        0.3840075135231018
      ]
    ],
    [
      [
        0.0,
        0.0,
        0.04837876185774803,
        0.07777562737464905,
        -0.07173224538564682,
        0.02389858104288578,
        0.1029987707734108
      ],
      [
        0.0,
        0.0,
        0.3481692373752594,
        0.2678722143173218,
        0.18070226907730103,
        0.1805194914340973,
        0.21225926280021667
      ]
    ],
    [
      [
        0.00021432287758216262,
        -0.001017225906252861,
        0.0009490080992691219,
        0.0012771538458764553,
        -4.03298472519964e-05,
        1.6517331459908746e-05,
        0.5683804750442505,
        0.023855386301875114
      ],
      [
        0.003075462533161044,
        0.006757265888154507,
        0.010920294560492039,
        0.024084405973553658,
        0.0031898680608719587,
        0.0039015202783048153,
        0.4952875077724457,
        0.15259981155395508
      ]
    ],
    [
      [
        0.0002901389671023935,
        -0.008735175244510174,
        -0.03063584677875042,
        -0.0008425223059020936,
        -0.01699526235461235,
        -0.057361308485269547,
        -0.0026800602208822966,
        -0.024219293147325516,
        -0.07954999059438705,
        -0.004751862026751041,
        -0.030450690537691116,
        -0.09751348197460175,
        -0.006432248279452324,
        -0.03592115268111229,
        -0.11248139292001724,
        -0.007074976805597544,
        -0.04055371135473251,
        -0.12592929601669312,
        -0.007033170200884342,
        -0.04448538273572922,
        -0.13845883309841156,
        -0.006582007277756929,
        -0.04794967174530029,
        -0.15048547089099884,
        -0.005856209900230169,
        -0.05115331709384918,
        -0.16212087869644165,
        -0.004947068635374308,
        -0.05432483181357384,
        -0.17349986732006073,
        0.1654718667268753,
        0.15334908664226532,
        0.14446938037872314,
        0.1381329596042633,
        0.14069639146327972,
        0.15441010892391205,
        0.16613994538784027,
        0.17573139071464539,
        0.18380865454673767,
        0.19018495082855225,
        -0.009925751015543938,
        0.000903706590179354,
        0.004995723720639944,
        -0.01862962171435356,
        0.0023904081899672747,
        0.009501785971224308,
        -0.025607934221625328,
        0.004396800417453051,
        0.013722752220928669,
        -0.0311029814183712,
        0.006277366541326046,
        0.017449310049414635,
        -0.035394586622714996,
        0.007309201173484325,
        0.0201618243008852,
        -0.038875941187143326,
        0.006901388987898827,
        0.021353811025619507,
        -0.04197891056537628,
        0.005615231115370989,
        0.021482987329363823,
        -0.044972267001867294,
        0.0038469291757792234,
        0.02095557004213333,
        -0.04788981378078461,
        0.0018653281731531024,
        0.020031819120049477,
        -0.05081408843398094,
        -0.00014616991393268108,
        0.018887164071202278
      ],
      [
        0.041665900498628616,
        0.04644826427102089,
        0.07724159955978394,
        0.06889741122722626,
        0.07856184244155884,
        0.13755755126476288,
        0.08888623118400574,
        0.10273010283708572,
        0.18770478665828705,
        0.10409166663885117,
        0.12153571844100952,
        0.2295888066291809,
        0.11617765575647354,
        0.13659057021141052,
        0.2621166706085205,
        0.12616446614265442,
        0.14888973534107208,
        0.2901250720024109,
        0.13466258347034454,
        0.15917454659938812,
        0.3126468062400818,
        0.14190249145030975,
        0.16750091314315796,
        0.3314359188079834,
        0.14818254113197327,
        0.17438767850399017,
        0.34811294078826904,
        0.1538163274526596,
        0.18024739623069763,
        0.3633021414279938,
        0.365497350692749,
        0.3581995368003845,
        0.35088542103767395,
        0.34727540612220764,
        0.3497294485569,
        0.3590857684612274,
        0.366073876619339,
        0.3722895681858063,
        0.3952684998512268,
        0.39616790413856506,
        0.0306396521627903,
        0.02315478026866913,
        0.020674167200922966,
        0.0541083849966526,
        0.039156123995780945,
        0.03597668185830116,
        0.07291583716869354,
        0.05113911256194115,
        0.048078753054142,
        0.08785141259431839,
        0.06023723632097244,
        0.05775951221585274,
        0.09968066215515137,
        0.0672508031129837,
        0.06552024185657501,
        0.10900193452835083,
        0.07301993668079376,
        0.07219257205724716,
        0.11649126559495926,
        0.0778062641620636,
        0.07776165008544922,
        0.12322770804166794,
        0.08162706345319748,
        0.08214502781629562,
        0.12892073392868042,
        0.08458641171455383,
        0.08537810295820236,
        0.1341981142759323,
        0.08686579018831253,
        0.08767224848270416
      ]
    ],
    [
      [
        0.0,
        0.0,
        0.0,
        0.06573251634836197,
        0.0,
        0.0,
        -0.04171482101082802,
        0.055990710854530334,
        0.8763954043388367,
        0.0,
        -0.0006664131069555879,
        0.0005193803808651865,
        -0.002541124587878585
      ],
      [
        0.0,
        0.0,
        0.0,
        0.3761773705482483,
        0.0,
        0.0,
        0.15819795429706573,
        0.22519806027412415,
        0.31361594796180725,
        0.0,
        0.02349717728793621,
        0.035984065383672714,
        0.057680174708366394
      ]
    ],
    [
      [
        -0.15317592024803162,
        0.0022776976693421602,
        -0.0009320594253949821,
        -0.00012546770449262112,
        0.0,
        0.0014520460972562432,
        -0.0015851958887651563,
        -0.0011786657851189375
      ],
      [
        0.9882915019989014,
        0.09682300686836243,
        0.08487523347139359,
        0.06578352302312851,
        0.0,
        0.04951652139425278,
        0.06362643837928772,
        0.061268579214811325
      ]
    ],
    [
      [
        0.05171596631407738,
        0.2228323519229889,
        -0.14441145956516266,
        0.3582628071308136
      ],
      [
        0.5066923499107361,
        0.5439659953117371,
        0.6763138771057129,
        0.7307645678520203
      ]
    ],
    [
      [
        0.17030708491802216,
        0.05116971209645271,
        -0.09447753429412842,
        0.0008643743931315839,
        0.0091375932097435,
        0.0027675393503159285,
        -0.056102462112903595
      ],
      [
        0.3859453797340393,
        0.24690480530261993,
        0.4153101444244385,
        0.02985573559999466,
        0.06587829440832138,
        0.14103403687477112,
        0.9984298348426819
      ]
    ],
    [
      [
        1.1466649993963074e-05,
        -6.314022175502032e-05,
        -3.7018828152213246e-05,
        -6.448457861552015e-05
      ],
      [
        0.018885519355535507,
        0.01785615272819996,
        0.019242558628320694,
        0.01844671182334423
      ]
    ],
    [
      [
        0.4066544473171234,
        0.6006699204444885,
        0.655235230922699,
        0.5799534320831299
      ],
      [
        0.12175972759723663,
        0.1993582844734192,
        0.11979881674051285,
        0.19911807775497437
      ]
    ],
    [
      [
        0.022955210879445076,
        -0.00010563172691036016,
        -0.011366250924766064,
        -0.0015581168700009584,
        0.04793407768011093,
        -0.006341158412396908,
        0.00134763540700078,
        0.001134222256951034
      ],
      [
        0.09014830738306046,
        0.00810029823333025,
        0.033557258546352386,
        0.013230394572019577,
        0.2136397510766983,
        0.012250976637005806,
        0.019736526533961296,
        0.007935167290270329
      ]
    ]
  ],
  "action_token_size": 64,
  "arch": "STTransformerDecoder",
  "attn_drop": 0.0,
  "d_action": 28,
  "d_actions": [
    7,
    13,
    2,
    4,
    100,
    8,
    14,
    35,
    70,
    6,
    16,
    120,
    18,
    80,
    8,
    5,
    40,
    7,
    8,
    9,
    40,
    49,
    120,
    7,
    105,
    7,
    2,
    7,
    20,
    35,
    8,
    350,
    13,
    40,
    12,
    21,
    60,
    4,
    8
  ],
  "d_model": 256,
  "dataloader_apply_corruption": true,
  "dataloader_apply_mask": true,
  "dataloader_mask_ratio_min": 0.2,
  "drop_action_ratio": 0.0,
  "factored_vocab_size": 512,
  "image_vocab_size": 262144,
  "init_actions": true,
  "jointly_predict_actions": false,
  "jointly_predict_states": true,
  "label_drop_prob": 0.5,
  "max_corrupt_rate": 0.2,
  "mlp_bias": true,
  "mlp_drop": 0.0,
  "mlp_ratio": 4.0,
  "non_mlm_ratio": 0.2,
  "num_factored_vocabs": 2,
  "num_heads": 8,
  "num_layers": 32,
  "num_prompt_frames": 4,
  "proj_bias": true,
  "qk_norm": false,
  "qkv_bias": false,
  "random_dummy_action": true,
  "shared_action_mlps": true,
  "use_actions": true,
  "use_mup": true
}