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{
  "action_dim": 12,
  "architectures": [
    "ACTPolicy"
  ],
  "args": {
    "action_dim": 12,
    "backbone": "resnet18",
    "camera_names": [
      "primary"
    ],
    "chunk_size": 100,
    "dec_layers": 7,
    "dilation": false,
    "dim_feedforward": 3200,
    "dropout": 0.1,
    "enc_layers": 4,
    "hidden_dim": 512,
    "history_len": 1,
    "kl_weight": 10,
    "lr_backbone": 1e-05,
    "masks": false,
    "nheads": 8,
    "num_queries": 100,
    "position_embedding": "sine",
    "pre_norm": false,
    "prediction_len": 100,
    "state_dim": 12
  },
  "backbone": "resnet18",
  "camera_names": [
    "primary"
  ],
  "chunk_size": 100,
  "dec_layers": 7,
  "dilation": false,
  "dim_feedforward": 3200,
  "dropout": 0.1,
  "enc_layers": 4,
  "hidden_dim": 512,
  "history_len": 1,
  "kl_weight": 10,
  "lr_backbone": 1e-05,
  "masks": false,
  "nheads": 8,
  "num_queries": 100,
  "position_embedding": "sine",
  "pre_norm": false,
  "prediction_len": 100,
  "state_dim": 12,
  "torch_dtype": "float32",
  "transformers_version": "4.45.2",
  "type": "policy.act"
}