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pusht_model

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pusht_model
File size: 1,707 Bytes 
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  "train_horizon": 20,
  "inference_horizon": 20,
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  "normalization_mapping": {
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    "STATE": "MIN_MAX",
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  "vision_backbone": "resnet18",
  "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
  "pre_norm": true,
  "lora_rank": 20,
  "merge_lora": false,
  "dim_model": 128,
  "n_heads": 8,
  "dim_feedforward": 512,
  "n_decoder_layers": 8,
  "rescale_shape": [
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  "crop_scale": 0.8,
  "state_noise": 0.01,
  "noise_decay": 0.999995,
  "dropout": 0.1,
  "alpha": 0.75,
  "train_alpha": 0.9,
  "predict_every_n": 1,
  "return_every_n": 1,
  "optimizer_lr": 0.0001,
  "optimizer_min_lr": 0.0001,
  "optimizer_lr_cycle_steps": 300000,
  "optimizer_weight_decay": 1e-05
}