{ "type": "text_diffusion", "n_obs_steps": 1, "input_features": { "observation.images.image": { "type": "VISUAL", "shape": [ 3, 256, 256 ] }, "observation.images.image2": { "type": "VISUAL", "shape": [ 3, 256, 256 ] }, "observation.state": { "type": "STATE", "shape": [ 8 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 7 ] } }, "device": "cuda", "use_amp": false, "use_peft": false, "push_to_hub": false, "repo_id": null, "private": null, "tags": null, "license": null, "pretrained_path": null, "cond_dim": 256, "vision_feature_dim": 384, "text_feature_dim": 512, "transformer_hidden_dim": 512, "transformer_n_heads": 8, "transformer_n_layers": 8, "transformer_mlp_ratio": 4.0, "transformer_time_embed_dim": 128, "num_train_timesteps": 100, "num_inference_steps": 25, "beta_schedule": "squaredcos_cap_v2", "prediction_type": "epsilon", "horizon": 16, "n_action_steps": 4, "normalization_mapping": { "VISUAL": "IDENTITY", "STATE": "MEAN_STD", "ACTION": "MIN_MAX" }, "optimizer_lr": 0.0001, "optimizer_weight_decay": 1e-06 }