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ACG-WAM
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{
  "common": {
    "action_dim": 14,
    "state_dim": 14,
    "num_video_frames": 8,
    "video_height": 384,
    "video_width": 320,
    "global_downsample_rate": 3,
    "video_action_freq_ratio": 2,
    "action_chunk_size": 16
  },
  "action_expert": {
    "hidden_size": 1024,
    "ffn_dim_multiplier": 4,
    "norm_eps": 1e-05
  },
  "und_expert": {
    "hidden_size": 512,
    "ffn_dim_multiplier": 4,
    "norm_eps": 1e-05,
    "vlm": {
      "input_dim": 2048,
      "projector_type": "mlp3x_silu"
    }
  },
  "time_distribution": {
    "timestep_sample_method": "logit_normal",
    "sigmoid_scale": 1.0,
    "min_t": 0.0,
    "max_t": 1.0
  },
  "ema": {
    "enabled": false,
    "update_after_step": 0,
    "inv_gamma": 1.0,
    "power": 0.75,
    "min_value": 0.0,
    "max_value": 0.9999
  },
  "geometry_jepa": {
    "enable": true,
    "lambda_geo": 0.01,
    "cache_dir": "/mnt/workspace/Tao/cache/vggt_teacher_robotwin_joint_future_slot_v1",
    "teacher_protocol_id": "vggt_tlayout_3view_percam_q32_d768_centered_joint_future_slot_v1",
    "horizon_choices": [
      1,
      2,
      4,
      8
    ],
    "max_horizon": 8,
    "num_queries": 96,
    "hidden_dim": 768,
    "adapter_num_heads": 8,
    "adapter_depth": 1,
    "adapter_dropout": 0.0,
    "predictor_depth": 2,
    "predictor_num_heads": 8,
    "predictor_dropout": 0.0,
    "action_hidden_dim": 768,
    "target_mode": "joint_future_slot",
    "alpha_cos": 1.0,
    "beta_mse": 0.05,
    "gamma_token_cos": 1.0,
    "use_pool_cosine": true,
    "use_token_mse": true,
    "detach_target": true,
    "freeze_wam_for_geo": false,
    "lr_scale": 1.0,
    "log_grad_norm": true
  }
}