| n_obs_steps: 1 | |
| chunk_size: 100 | |
| n_action_steps: 100 | |
| vision_backbone: resnet18 | |
| pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1 | |
| replace_final_stride_with_dilation: false | |
| image_size: | |
| - 512 | |
| - 512 | |
| pre_norm: false | |
| dim_model: 512 | |
| n_heads: 8 | |
| dim_feedforward: 3200 | |
| feedforward_activation: relu | |
| n_encoder_layers: 4 | |
| n_decoder_layers: 1 | |
| use_vae: true | |
| latent_dim: 32 | |
| n_vae_encoder_layers: 4 | |
| temporal_ensemble_coeff: null | |
| dropout: 0.1 | |
| kl_weight: 10.0 | |
| optimizer_lr: 1.0e-05 | |
| optimizer_weight_decay: 0.0001 | |
| optimizer_grad_clip_norm: 10.0 | |
| dataset_stats: null | |