{
  "schema_version": 1,
  "dataset": "bridge",
  "status": "released_inference",
  "codec": "bridge/codec",
  "action_ranges": "bridge/preprocessing/action_ranges.pt",
  "action_tokens_per_step": 13,
  "text_conditioning": {
    "enabled": true,
    "repo_id": "google-t5/t5-base",
    "revision": "a9723ea7f1b39c1eae772870f3b547bf6ef7e6c1",
    "layers": [
      3,
      7,
      11
    ],
    "inner": 256,
    "width": 768,
    "max_tokens": 256,
    "bundled": false
  },
  "initial_observations": 2,
  "memory": {
    "anchor_states": 1,
    "recent_states": 6,
    "ground_truth_refresh": false
  },
  "evaluation": {
    "strategy": "per_frame_beam",
    "beam_width": 4,
    "horizon": 32,
    "visual_tokens_per_frame": 80,
    "valid_visual_vocab": 4375
  },
  "variants": {
    "sft": {
      "path": "bridge/models/sft",
      "method": "SFT",
      "updates": 50000,
      "text": true
    },
    "main": {
      "path": "bridge/models/main",
      "method": "GDBS with semantic and visual feedback",
      "updates": 250,
      "text": true
    }
  }
}