{
  "architectures": [
    "ActionCodec"
  ],
  "auto_map": {
    "AutoConfig": "configuration_actioncodec.ActionCodecConfig",
    "AutoModel": "modeling_actioncodec.ActionCodec"
  },
  "decoder_add_causal_mask": false,
  "decoder_add_self_attn": false,
  "decoder_cls_size": 1,
  "decoder_dim": 384,
  "decoder_n_heads": 6,
  "decoder_n_layers": 12,
  "decoder_pos_encoding_type": "fourier",
  "dtype": "float32",
  "embodiment_config": {
    "a_franka_libero_20hz": {
      "action_dim": 7,
      "description": "20Hz 7-dim action for 1s. Delta eef position (xyz), orientation (rpy), and gripper position (1 open/0 close).",
      "duration": 1,
      "freq": 20
    },
    "b_widowx_bridge_5hz": {
      "action_dim": 7,
      "description": "5Hz 7-dim action for 1s. Delta eef position (xyz), orientation (rpy), and gripper position (1 open/0 close).",
      "duration": 2,
      "freq": 5
    },
    "c_franka_droid_15hz": {
      "action_dim": 7,
      "description": "15Hz 7-dim action for 1s. Delta eef position (xyz), orientation (rpy), and gripper position (1 open/0 close).",
      "duration": 1,
      "freq": 15
    },
    "d_so100_community_30Hz": {
      "action_dim": 7,
      "description": "30Hz 6-dim action for 1s. Delta joint angles. The last dimension is zero padding.",
      "duration": 1,
      "freq": 30
    },
    "e_franka_vlabench_10Hz": {
      "action_dim": 7,
      "description": "10Hz 7-dim action for 1s. Delta eef position (xyz), orientation (rpy), and gripper position (1 open/0 close).",
      "duration": 1,
      "freq": 10
    }
  },
  "encoder_add_causal_mask": false,
  "encoder_add_self_attn": false,
  "encoder_dim": 384,
  "encoder_n_heads": 6,
  "encoder_n_layers": 12,
  "encoder_pos_encoding_type": "fourier",
  "model_type": "action_codec",
  "n_quantizers": 3,
  "n_tokens": 48,
  "transformers_version": "4.57.3",
  "vq_codebook_size": 2048,
  "vq_commitment_weight": 0.25,
  "vq_decay": 0.99,
  "vq_kmeans_init": true,
  "vq_quantizer_dropout": 0.25,
  "vq_threshold_ema_dead_code": 2,
  "vq_type": "rvq",
  "z_dim": 512
}