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mlp_image_deep_learning_2025_joint

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mlp_image_deep_learning_2025_joint
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{
    "type": "omy_baseline",
    "n_obs_steps": 1,
    "normalization_mapping": {
        "STATE": "MEAN_STD",
        "ENVIRONMENT_STATE": "MEAN_STD",
        "ACTION": "MEAN_STD"
    },
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                7
            ]
        },
        "observation.image": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        },
        "observation.wrist_image": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                256
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                7
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "chunk_size": 10,
    "n_action_steps": 10,
    "backbone": "mlp",
    "vision_backbone": "facebook/dinov3-vitb16-pretrain-lvd1689m",
    "projection_dim": 0,
    "freeze_backbone": true,
    "n_hidden_layers": 10,
    "hidden_dim": 512,
    "n_heads": 4,
    "dim_feedforward": 2048,
    "feedforward_activation": "gelu",
    "dropout": 0.1,
    "pre_norm": true,
    "n_encoder_layers": 6,
    "optimizer_lr": 0.0005,
    "optimizer_weight_decay": 1e-06,
    "lr_warmup_steps": 1000,
    "total_training_steps": 500000,
    "use_policy_training_preset": true
}