{ "type": "gaze_act", "n_obs_steps": 1, "input_features": { "observation.images.right": { "type": "VISUAL", "shape": [ 240, 320, 3 ] }, "observation.images.left": { "type": "VISUAL", "shape": [ 240, 320, 3 ] }, "observation.images.user": { "type": "VISUAL", "shape": [ 240, 320, 3 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 26 ] } }, "device": "cuda", "use_amp": false, "use_peft": false, "push_to_hub": true, "repo_id": "fecasado/gact-cubes-27a", "private": null, "tags": null, "license": null, "pretrained_path": null, "chunk_size": 30, "n_action_steps": 1, "normalization_mapping": { "VISUAL": "MEAN_STD", "STATE": "MEAN_STD", "ACTION": "MEAN_STD" }, "vision_backbone": "resnet18", "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", "replace_final_stride_with_dilation": false, "pre_norm": false, "dim_model": 512, "n_heads": 8, "dim_feedforward": 3200, "feedforward_activation": "relu", "n_encoder_layers": 4, "n_decoder_layers": 1, "use_vae": true, "latent_dim": 32, "n_vae_encoder_layers": 4, "temporal_ensemble_coeff": 0.01, "dropout": 0.1, "kl_weight": 10.0, "optimizer_lr": 1e-05, "optimizer_weight_decay": 0.0001, "optimizer_lr_backbone": 1e-05, "vit_token_size": 16, "vit_foveation_strides": [ 1, 2, 6 ], "vit_foveation_grid_sizes": [ 2, 3, 3 ], "vit_model_size": "base", "vit_pretrained_repo_id": "iantc104/mae_vitb_foveated_vit", "vit_freeze": true, "gaze_feature_dim": 3, "gaze_state_indices": [ -3, -2, -1 ], "gaze_temporal_window": 1, "gaze_cross_camera": false, "gaze_cross_camera_method_train": "roma", "gaze_cross_camera_method_inference": "roma", "gaze_cross_camera_match_every": 5, "gaze_cross_camera_timeout": 0.05, "gaze_cross_camera_cache": null, "gaze_token": false, "gaze_heatmap": false, "gaze_heatmap_sigma": 60.0, "gaze_heatmap_decay": 1.0, "gaze_film": false, "gaze_film_multilayer": false, "gaze_overlay": false, "gaze_overlay_radius": 12, "gaze_overlay_alpha": 0.5, "gaze_camera": "user", "gaze_attention_guidance": false, "gaze_attention_weight": 1.0, "gaze_contrastive": false, "gaze_contrastive_weight": 0.1, "gaze_contrastive_negatives": 16, "gaze_contrastive_tau": 0.07, "gaze_prediction": false, "gaze_prediction_weight": 0.1 }