{
  "schema_version": 1,
  "dataset": "bridge",
  "status": "staged_research_preview",
  "codec": "bridge/codec",
  "action_ranges": "bridge/preprocessing/action_ranges.pth",
  "action_tokens_per_step": 13,
  "text_conditioning": {
    "enabled": 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": "bridge/models/main",
      "method": "MemSPO",
      "updates": 200,
      "reward": "R1",
      "purpose": "paper_main_table",
      "text": false
    },
    "sft": {
      "path": "bridge/models/sft",
      "method": "SFT",
      "updates": 50000,
      "reward": null,
      "purpose": "matched_ablation",
      "text": false
    },
    "memspo200": {
      "path": "bridge/models/memspo200",
      "method": "MemSPO",
      "updates": 200,
      "reward": "R0",
      "purpose": "matched_ablation",
      "text": false
    },
    "grpo200": {
      "path": "bridge/models/grpo200",
      "method": "GRPO",
      "updates": 200,
      "reward": "R0",
      "purpose": "matched_ablation",
      "text": false
    },
    "ordinary200": {
      "path": "bridge/models/ordinary200",
      "method": "OrdinaryBeam",
      "updates": 200,
      "reward": "R0",
      "purpose": "matched_ablation",
      "text": false
    }
  }
}