| { | |
| "architecture": "ImpalaTower x2 (one per camera) + concatenated proprio", | |
| "task": "mimicgen threading_d0", | |
| "image_size": 224, | |
| "cameras": [ | |
| "agentview", | |
| "eye_in_hand" | |
| ], | |
| "out_dim_per_tower": 128, | |
| "output_width": 265, | |
| "proprio_dim": 9, | |
| "proprio_note": "eef_pos(3) + eef_quat(4) + gripper_qpos(2), StateScaler-scaled", | |
| "params": 6618496, | |
| "env_steps": 300007, | |
| "trained_with": "DICE-RL pixel Q critic (model-free), DrQ random shift pad=4", | |
| "pixel_augment": true, | |
| "drq_shift_pad": 4, | |
| "success_rate": { | |
| "0k": 57, | |
| "50k": 86, | |
| "100k": 89, | |
| "300k": 90 | |
| }, | |
| "state_readoff_rms_mm": { | |
| "eef_pos": 33.3, | |
| "obj_pos_needle": 30.2, | |
| "goal_pos_tripod": 46.4, | |
| "offset_vector": 47.9, | |
| "offset_scalar": 31.7 | |
| } | |
| } |