| { | |
| "architectures": [ | |
| "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": 3, | |
| "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 | |
| } | |
| }, | |
| "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": "4.57.1", | |
| "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 | |
| } | |