{ "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 } }