{
    "type": "dot",
    "n_obs_steps": 3,
    "normalization_mapping": {
        "VISUAL": "MEAN_STD",
        "STATE": "MIN_MAX",
        "ENV": "MIN_MAX",
        "ACTION": "MIN_MAX"
    },
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                5
            ]
        },
        "observation.images.top_view": {
            "type": "VISUAL",
            "shape": [
                3,
                264,
                264
            ]
        },
        "observation.images.gripper_cam": {
            "type": "VISUAL",
            "shape": [
                3,
                264,
                264
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                5
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "push_to_hub": true,
    "repo_id": "tmeynier/test_hepha_model_2",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "train_horizon": 20,
    "inference_horizon": 20,
    "lookback_obs_steps": 10,
    "lookback_aug": 5,
    "override_dataset_stats": false,
    "new_dataset_stats": {
        "action": {
            "max": [
                0.225,
                0.271,
                0.175,
                0.7854,
                0.0333
            ],
            "min": [
                -0.225,
                -0.271,
                -0.175,
                -1.5708,
                -0.0333
            ]
        },
        "observation.state": {
            "max": [
                0.225,
                0.271,
                0.175,
                0.7854,
                0.0333
            ],
            "min": [
                -0.225,
                -0.271,
                -0.175,
                -1.5708,
                -0.0333
            ]
        }
    },
    "vision_backbone": "resnet18",
    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
    "pre_norm": true,
    "lora_rank": 20,
    "merge_lora": false,
    "dim_model": 384,
    "n_heads": 8,
    "dim_feedforward": 1536,
    "n_decoder_layers": 8,
    "rescale_shape": [
        264,
        264
    ],
    "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
}