| { | |
| "action_dim": 7, | |
| "architectures": [ | |
| "BCTransformerPolicy" | |
| ], | |
| "chunk_size": 64, | |
| "d_model": 256, | |
| "dim_feedforward": 1024, | |
| "dropout": 0.1, | |
| "feature_aggregation": "spatial_softmax", | |
| "image_size": [ | |
| 256, | |
| 256 | |
| ], | |
| "imagenet_norm": true, | |
| "loss_type": "mse", | |
| "model_type": "bc_transformer", | |
| "nhead": 8, | |
| "num_cameras": 2, | |
| "num_kp": 32, | |
| "num_layers": 4, | |
| "predict_relative_actions": false, | |
| "share_rgb_model": false, | |
| "state_dim": 7, | |
| "torch_dtype": "float32", | |
| "transformers_version": "4.45.2", | |
| "vision_feature_dim": 128, | |
| "vision_frozen": false, | |
| "vision_model_name": "resnet18", | |
| "vision_pretrained": true | |
| } | |