| { | |
| "model_path": "/app/project/trex/models/qwen3vl-2b-instruct", | |
| "action_dim": 62, | |
| "action_chunk": 16, | |
| "use_robot_state": 0, | |
| "use_tactile_deform": 1, | |
| "use_tactile_vec": 1, | |
| "tactile_intermediate_size": 1536, | |
| "training_stage": 2, | |
| "use_flare": 1, | |
| "n_flare_tokens_per_frame": 4, | |
| "n_flare_steps": 8, | |
| "flare_layer_index": -1, | |
| "use_tactile_code": 1, | |
| "vqvae_codebook_size": 64, | |
| "use_tactile_vqvae": 1, | |
| "vqvae_config": { | |
| "window": 16, | |
| "in_channels": 30, | |
| "hidden_channels": 128, | |
| "bottleneck_channels": 256, | |
| "embed_dim": 256, | |
| "n_strided_blocks": 2, | |
| "codebook_size": 64, | |
| "commitment_weight": 0.25, | |
| "decay": 0.99, | |
| "revive_freq": 200, | |
| "revive_threshold": 1.0, | |
| "use_magnitude_weight": true, | |
| "weight_alpha": 2.0, | |
| "weight_tau": 4.0, | |
| "granularity": "finger", | |
| "n_fingers": 5, | |
| "per_finger_dim": 6, | |
| "init_mode": "uniform" | |
| }, | |
| "paradigm": "cascaded", | |
| "cascaded_total_steps": 10, | |
| "cascaded_split_step": 6, | |
| "flare_frame_stride": 4 | |
| } |