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{
  "schema_version": 1,
  "dataset": "rt1",
  "status": "staged_research_preview",
  "codec": "rt1/codec",
  "action_ranges": "rt1/preprocessing/frac_action_ranges.pth",
  "action_tokens_per_step": 13,
  "text_conditioning": {
    "enabled": true,
    "repo_id": "google-t5/t5-base",
    "revision": "a9723ea7f1b39c1eae772870f3b547bf6ef7e6c1",
    "layers": [
      3,
      7,
      11
    ],
    "inner": 256,
    "width": 768,
    "max_tokens": 64,
    "bundled": false
  },
  "initial_observations": 2,
  "memory": {
    "anchor_states": 1,
    "recent_states": 6,
    "ground_truth_refresh": false
  },
  "evaluation": {
    "strategy": "per_frame_beam",
    "beam_width": 4,
    "horizon": 32,
    "visual_tokens_per_frame": 80,
    "valid_visual_vocab": 4375
  },
  "variants": {
    "main": {
      "path": "rt1/models/main",
      "method": "MemSPO",
      "updates": 500,
      "reward": "R0",
      "purpose": "paper_main_table",
      "text": true
    },
    "sft": {
      "path": "rt1/models/sft",
      "method": "SFT",
      "updates": 50000,
      "reward": null,
      "purpose": "matched_ablation",
      "text": true
    },
    "memspo200": {
      "path": "rt1/models/memspo200",
      "method": "MemSPO",
      "updates": 200,
      "reward": "R0",
      "purpose": "matched_ablation",
      "text": true
    },
    "grpo200": {
      "path": "rt1/models/grpo200",
      "method": "GRPO",
      "updates": 200,
      "reward": "R0",
      "purpose": "matched_ablation",
      "text": true
    },
    "ordinary200": {
      "path": "rt1/models/ordinary200",
      "method": "OrdinaryBeam",
      "updates": 200,
      "reward": "R0",
      "purpose": "matched_ablation",
      "text": true
    }
  }
}