{ "type": "sarm", "input_features": { "observation.images.left_camera1": { "type": "VISUAL", "shape": [ 480, 640, 3 ] }, "observation.state": { "type": "STATE", "shape": [ 32 ] } }, "output_features": { "sparse_stage": { "type": "REWARD", "shape": [ 13, 1 ] }, "sparse_progress": { "type": "REWARD", "shape": [ 13, 1 ] } }, "device": "cuda", "pretrained_path": null, "push_to_hub": true, "repo_id": "wuc1/sarm_0701", "license": null, "tags": null, "private": null, "annotation_mode": "single_stage", "temporal_window_mode": "bidirectional", "n_obs_steps": 8, "frame_gap": 60, "max_rewind_steps": 4, "image_dim": 512, "text_dim": 512, "hidden_dim": 768, "num_heads": 12, "num_layers": 8, "max_state_dim": 32, "drop_n_last_frames": 1, "batch_size": 64, "clip_batch_size": 64, "dropout": 0.1, "stage_loss_weight": 1.0, "rewind_probability": 0.8, "language_perturbation_probability": 0.2, "num_sparse_stages": 1, "sparse_subtask_names": [ "task" ], "sparse_temporal_proportions": [ 1.0 ], "num_dense_stages": null, "dense_subtask_names": null, "dense_temporal_proportions": null, "pretrained_model_path": null, "image_key": "observation.images.left_camera1", "state_key": "observation.state", "precomputed_image_features_path": "/mnt/e/dataset/bi_so101_ffp_0623/meta/clip_features_left_camera1.npy", "normalization_mapping": { "VISUAL": "IDENTITY", "STATE": "MEAN_STD", "LANGUAGE": "IDENTITY", "REWARD": "IDENTITY" } }