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{
"type": "act",
"n_obs_steps": 1,
"normalization_mapping": {
"VISUAL": "IDENTITY",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
"input_features": {
"observation.state": {
"type": "STATE",
"shape": [6]
},
"observation.images.laptop": {
"type": "VISUAL",
"shape": [3, 480, 640]
},
"observation.images.phone": {
"type": "VISUAL",
"shape": [3, 480, 640]
}
},
"output_features": {
"action": {
"type": "ACTION",
"shape": [6]
}
},
"device": "cuda",
"use_amp": false,
"chunk_size": 50,
"n_action_steps": 50
} |