{
  "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
  }
}