{ "type": "trace_act", "n_obs_steps": 1, "input_features": { "observation.state": { "type": "STATE", "shape": [ 14 ] }, "observation.ee_pixel_left": { "type": "STATE", "shape": [ 2 ] }, "observation.ee_pixel_right": { "type": "STATE", "shape": [ 2 ] }, "observation.images.cam_high": { "type": "VISUAL", "shape": [ 3, 256, 256 ] }, "observation.images.cam_left_wrist": { "type": "VISUAL", "shape": [ 3, 256, 256 ] }, "observation.images.cam_right_wrist": { "type": "VISUAL", "shape": [ 3, 256, 256 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 14 ] } }, "device": "cpu", "use_amp": false, "use_peft": false, "push_to_hub": true, "repo_id": "quincyu/trace_robotwin", "private": null, "tags": null, "license": null, "pretrained_path": null, "vjepa_model_id": "facebook/vjepa2-vitg-fpc64-256", "trace_horizon": 20, "trace_predictor_ckpt": null, "video_key": "observation.video", "language_key": "observation.language", "chunk_size": 20, "n_action_steps": 20, "drop_n_last_frames": 10, "ee_pixel_image_resolution": 256, "normalization_mapping": { "VISUAL": "MEAN_STD", "STATE": "MEAN_STD", "ACTION": "MIN_MAX" }, "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": null, "dropout": 0.1, "kl_weight": 10.0, "optimizer_lr": 1e-05, "optimizer_weight_decay": 0.0001, "optimizer_lr_backbone": 1e-05, "compile_model": true, "compile_backend": "cudagraphs" }