| { |
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| "act_attn_loss_weights": null, |
| "act_attn_sigma": 25.0, |
| "chunk_size": 33, |
| "dim_feedforward": 3200, |
| "dim_gaze_decoder": 512, |
| "dim_gaze_decoder_feedforward": 3200, |
| "dim_model": 512, |
| "dinov2_attn_layers": null, |
| "dinov2_attn_loss_weights": null, |
| "dinov2_attn_sigma": 25.0, |
| "dropout": 0.1, |
| "eyes": { |
| "observation.left_eye": "observation.images.zed_cam_left" |
| }, |
| "feedforward_activation": "relu", |
| "freeze_backbone": false, |
| "gaze_loss_weight": 1.0, |
| "gaze_sigma": 50.0, |
| "image_size": [ |
| 480, |
| 640 |
| ], |
| "input_normalization_modes": { |
| "observation.images.left_eye_cam": "mean_std", |
| "observation.images.overhead_cam": "mean_std", |
| "observation.images.right_eye_cam": "mean_std", |
| "observation.images.worms_eye_cam": "mean_std", |
| "observation.state": "mean_std" |
| }, |
| "input_shapes": { |
| "observation.images.left_eye_cam": [ |
| 3, |
| 480, |
| 640 |
| ], |
| "observation.images.overhead_cam": [ |
| 3, |
| 480, |
| 640 |
| ], |
| "observation.images.right_eye_cam": [ |
| 3, |
| 480, |
| 640 |
| ], |
| "observation.images.worms_eye_cam": [ |
| 3, |
| 480, |
| 640 |
| ], |
| "observation.state": [ |
| 21 |
| ] |
| }, |
| "kl_weight": 10.0, |
| "latent_dim": 32, |
| "n_action_steps": 33, |
| "n_decoder_layers": 1, |
| "n_encoder_layers": 4, |
| "n_gaze_decoder_layers": 1, |
| "n_heads": 8, |
| "n_obs_steps": 1, |
| "n_vae_encoder_layers": 4, |
| "output_normalization_modes": { |
| "action": "mean_std" |
| }, |
| "output_shapes": { |
| "action": [ |
| 21 |
| ] |
| }, |
| "pre_norm": false, |
| "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", |
| "replace_final_stride_with_dilation": false, |
| "temporal_ensemble_coeff": null, |
| "use_act_attn": false, |
| "use_dinov2_attn": false, |
| "use_gaze": false, |
| "use_vae": true, |
| "vision_backbone": "resnet18" |
| } |
