{
  "cfg": {
    "action_dim": 7,
    "backbone": "facebook/dinov3-vits16-pretrain-lvd1689m",
    "decoder_heads": 8,
    "decoder_layers": 4,
    "dropout": 0.1,
    "encoder_input_size": 224,
    "freeze_backbone": true,
    "gripper_idx": 6,
    "gripper_weight": 1.0,
    "head_hidden": 1024,
    "head_layers": 3,
    "head_type": "xattn",
    "huber_delta": 0.1,
    "image_size": 256,
    "input_mode": "source_depth_flow",
    "norm_mode": "zscore",
    "norm_stats": {
      "actions": {
        "mean": [
          0.047240227460861206,
          0.0508635975420475,
          -0.09378840774297714,
          0.0036939603742212057,
          0.003270887304097414,
          -0.006564674433320761,
          -0.059840139001607895
        ],
        "q01": [
          -0.46339285373687744,
          -0.7392857074737549,
          -0.7794643044471741,
          -0.07392857223749161,
          -0.16607142984867096,
          -0.2978571355342865,
          -1.0
        ],
        "q99": [
          0.7098749876022339,
          0.7821428775787354,
          0.8303571343421936,
          0.17892856895923615,
          0.1639285683631897,
          0.375,
          1.0
        ],
        "std": [
          0.3100294768810272,
          0.3630746901035309,
          0.4150514304637909,
          0.04578809812664986,
          0.0601838082075119,
          0.08567292243242264,
          0.9982079863548279
        ]
      },
      "state": {
        "mean": [
          -0.07068316638469696,
          0.018536901101469994,
          0.8913209438323975,
          2.9518160820007324,
          -0.17911545932292938,
          -0.12059465050697327,
          0.02673562802374363,
          -0.027061836794018745
        ],
        "q01": [
          -0.2335965633392334,
          -0.09221210330724716,
          0.9166392087936401,
          1.5836201906204224,
          -2.489743947982788,
          -1.0587904453277588,
          0.0018643600633367896,
          -0.04007481783628464
        ],
        "q99": [
          0.09121209383010864,
          0.21421630680561066,
          1.1849141120910645,
          3.1840009689331055,
          3.0570921897888184,
          0.8673243522644043,
          0.04050664231181145,
          -0.0014549389015883207
        ],
        "std": [
          0.11321546137332916,
          0.14622576534748077,
          0.2981572151184082,
          0.4244987368583679,
          1.0269798040390015,
          0.3394932448863983,
          0.014265833422541618,
          0.01417431328445673
        ]
      }
    },
    "num_actions": 8,
    "proprio_dim": 8,
    "proprio_hidden": 256
  }
}