{
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    "normalization_mapping": {
        "STATE": "MEAN_STD",
        "ENVIRONMENT_STATE": "MEAN_STD",
        "ACTION": "MEAN_STD"
    },
    "input_features": {
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            ]
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        "observation.environment_state": {
            "type": "ENV",
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                27
            ]
        }
    },
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            "type": "ACTION",
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    "device": "cuda",
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    "chunk_size": 10,
    "n_action_steps": 10,
    "backbone": "mlp",
    "vision_backbone": "facebook/dinov3-vitb16-pretrain-lvd1689m",
    "projection_dim": 128,
    "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
}