{ "type": "poc_chunk", "n_obs_steps": 1, "input_features": { "observation.image": { "type": "VISUAL", "shape": [ 3, 256, 256 ] }, "observation.wrist_image": { "type": "VISUAL", "shape": [ 3, 256, 256 ] }, "observation.state": { "type": "STATE", "shape": [ 13 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 8 ] } }, "device": "cuda", "use_amp": false, "use_peft": false, "push_to_hub": true, "repo_id": "Jeongeun/dynamic_object_v3_poc_chunk_10", "private": null, "tags": null, "license": null, "pretrained_path": null, "add_past_actions": true, "see_past_action_only": false, "noise_injection": false, "noise_std": 0.01, "chunk_size": 10, "n_action_steps": 10, "image_feature_dim": 768, "normalization_mapping": { "STATE": "MEAN_STD", "ACTION": "MEAN_STD" }, "nheads": 6, "dim_forward": 512, "num_layers": 8, "activation": "gelu", "max_seq_len": 512, "use_token_type_embedding": true, "freeze_image_encoder": false, "optimizer_lr": 3e-05, "optimizer_weight_decay": 1e-06, "lr_warmup_steps": 500, "total_training_steps": 500000, "use_policy_training_preset": true }