config.json

{
  "alpha": 0.98,
  "crop_scale": 0.8,
  "dim_feedforward": 512,
  "dim_model": 128,
  "dropout": 0.1,
  "inference_horizon": 100,
  "input_normalization_modes": {
    "observation.images.top": "mean_std",
    "observation.state": "min_max"
  },
  "input_shapes": {
    "observation.images.top": [
      3,
      480,
      640
    ],
    "observation.state": [
      14
    ]
  },
  "lookback_aug": 5,
  "lookback_obs_steps": 30,
  "lora_rank": 20,
  "merge_lora": true,
  "n_decoder_layers": 8,
  "n_heads": 8,
  "n_obs_steps": 3,
  "noise_decay": 0.999995,
  "output_normalization_modes": {
    "action": "min_max"
  },
  "output_shapes": {
    "action": [
      14
    ]
  },
  "pre_norm": true,
  "predict_every_n": 1,
  "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
  "rescale_shape": [
    480,
    640
  ],
  "return_every_n": 1,
  "state_noise": 0.01,
  "train_alpha": 0.99,
  "train_horizon": 150,
  "vision_backbone": "resnet18"
}