config.json

{
    "type": "mlp_bc",
    "n_obs_steps": 1,
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                26
            ]
        },
        "observation.images.left_camera": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                288
            ]
        },
        "observation.images.center_camera": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                288
            ]
        },
        "observation.images.right_camera": {
            "type": "VISUAL",
            "shape": [
                3,
                256,
                288
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                6
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": false,
    "repo_id": null,
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "chunk_size": 1,
    "n_action_steps": 1,
    "image_resolution": [
        128,
        144
    ],
    "cnn_channels": [
        32,
        64,
        128,
        256
    ],
    "state_proj_dim": 128,
    "head_hidden_dim": 512,
    "head_layers": 2,
    "dropout": 0.1,
    "normalization_mapping": {
        "VISUAL": "MEAN_STD",
        "STATE": "MEAN_STD",
        "ACTION": "MEAN_STD"
    },
    "optimizer_lr": 0.0003,
    "optimizer_weight_decay": 1e-05,
    "optimizer_betas": [
        0.9,
        0.999
    ],
    "optimizer_grad_clip_norm": 1.0
}