| { | |
| "action_dim": 7, | |
| "action_head_cfg": { | |
| "action_dim": 7, | |
| "action_horizon": 16, | |
| "backbone_embedding_dim": 256, | |
| "diffusion_model_cfg": { | |
| "attention_head_dim": 64, | |
| "cross_attention_dim": 256, | |
| "num_attention_heads": 4, | |
| "output_dim": 256 | |
| }, | |
| "hidden_size": 256, | |
| "input_embedding_dim": 256, | |
| "max_state_dim": 14, | |
| "use_vlln": false, | |
| "vl_self_attention_cfg": {} | |
| }, | |
| "action_horizon": 16, | |
| "architectures": [ | |
| "VJEPANestedAgent" | |
| ], | |
| "backbone_cfg": {}, | |
| "compute_dtype": "bfloat16", | |
| "dtype": "float32", | |
| "encoder_dim": 256, | |
| "model_type": "vjepa_nested_agent", | |
| "nested_hidden_dim": 256, | |
| "nested_max_episodes": 100, | |
| "nested_memory_dim": 128, | |
| "nested_num_skills": 32, | |
| "nested_skill_dim": 64, | |
| "transformers_version": "4.57.3", | |
| "use_nested_learning": true, | |
| "vjepa_checkpoint": "/scratch/cbjp404/AI-Endo/vjepa2/vitl.pt" | |
| } | |