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| "action_chunk_size": 5, |
| "bet_softmax_temperature": 0.01, |
| "crop_is_random": true, |
| "crop_shape": [ |
| 84, |
| 84 |
| ], |
| "dropout": 0.1, |
| "gpt_block_size": 500, |
| "gpt_hidden_dim": 512, |
| "gpt_input_dim": 512, |
| "gpt_n_head": 8, |
| "gpt_n_layer": 8, |
| "gpt_output_dim": 512, |
| "input_normalization_modes": { |
| "observation.image": "mean_std", |
| "observation.state": "min_max" |
| }, |
| "input_shapes": { |
| "observation.image": [ |
| 3, |
| 96, |
| 96 |
| ], |
| "observation.state": [ |
| 2 |
| ] |
| }, |
| "mlp_hidden_dim": 1024, |
| "n_action_pred_token": 7, |
| "n_obs_steps": 5, |
| "n_vqvae_training_steps": 20000, |
| "offset_loss_weight": 10000.0, |
| "output_normalization_modes": { |
| "action": "min_max" |
| }, |
| "output_shapes": { |
| "action": [ |
| 2 |
| ] |
| }, |
| "pretrained_backbone_weights": null, |
| "primary_code_loss_weight": 5.0, |
| "secondary_code_loss_weight": 0.5, |
| "sequentially_select": false, |
| "spatial_softmax_num_keypoints": 32, |
| "use_group_norm": true, |
| "vision_backbone": "resnet18", |
| "vqvae_embedding_dim": 256, |
| "vqvae_enc_hidden_dim": 128, |
| "vqvae_n_embed": 16 |
| } |
