{
  "model": "amp-tadpole",
  "version": "0.2.1",
  "parameters": 6507335,
  "inputs": {
    "images": "uint8 (3, 3, 512, 512): top, side, iso",
    "state": "(7,): 6 joint angles (rad) + gripper (0 open .. 1 closed)",
    "clause": "one canonical instruction clause"
  },
  "output": "(8, 7): the next 8 joint states + gripper",
  "training": {
    "steps": 330000,
    "batch_size": 64,
    "learning_rate": 0.0003,
    "state_dropout": 0.5,
    "seeds": "from 0 (scenes from 9,000,000 up never used)",
    "progress_reward": 0.0,
    "path_weight": 0.0,
    "success_on_100_held_out_scenes_during_training": 0.893
  }
}