| { |
| "_target_": "salt.models.JEPA", |
| "encoder": { |
| "_target_": "stable_pretraining.backbone.utils.vit_hf", |
| "size": "tiny", |
| "patch_size": 14, |
| "image_size": 224, |
| "pretrained": false, |
| "use_mask_token": false |
| }, |
| "predictor": { |
| "_target_": "salt.models.StateAffineTransition", |
| "dim": 192, |
| "cond_dim": 192, |
| "num_modes": 16, |
| "spectral": true, |
| "s_init": 3.0 |
| }, |
| "action_encoder": { |
| "_target_": "salt.models.ActionEncoder", |
| "input_dim": 25, |
| "emb_dim": 192 |
| }, |
| "projector": { |
| "_target_": "salt.models.MLP", |
| "input_dim": 192, |
| "output_dim": 192, |
| "hidden_dim": 2048, |
| "norm_fn": { |
| "_target_": "torch.nn.BatchNorm1d", |
| "_partial_": true |
| } |
| }, |
| "pred_proj": null |
| } |
|
|
