{
    "type": "transformer_diffusion",
    "n_obs_steps": 2,
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                7
            ]
        },
        "observation.images.gripper": {
            "type": "VISUAL",
            "shape": [
                3,
                400,
                640
            ]
        },
        "observation.images.depth": {
            "type": "VISUAL",
            "shape": [
                3,
                400,
                640
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                7
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "push_to_hub": true,
    "repo_id": null,
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "horizon": 12,
    "n_action_steps": 8,
    "normalization_mapping": {
        "VISUAL": "MEAN_STD",
        "STATE": "MIN_MAX",
        "ACTION": "MIN_MAX"
    },
    "vision_backbone": "resnet34",
    "pretrained_backbone_weights": "ResNet34_Weights.IMAGENET1K_V1",
    "state_dim": 7,
    "action_dim": 7,
    "d_model": 512,
    "nhead": 8,
    "num_encoder_layers": 6,
    "dim_feedforward": 1024,
    "diffusion_step_embed_dim": 128,
    "down_dims": [
        512,
        1024,
        2048
    ],
    "kernel_size": 5,
    "n_groups": 8,
    "use_film_scale_modulation": true,
    "optimizer_lr": 0.0001,
    "optimizer_betas": [
        0.95,
        0.999
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 1e-06,
    "scheduler_name": "cosine",
    "scheduler_warmup_steps": 500
}