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