{ "type": "mint_light", "n_obs_steps": 1, "input_features": { "observation.state": { "type": "STATE", "shape": [ 8 ] }, "observation.images.image": { "type": "VISUAL", "shape": [ 3, 128, 128 ] }, "observation.images.image2": { "type": "VISUAL", "shape": [ 3, 128, 128 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 7 ] } }, "device": "cuda", "use_amp": false, "use_peft": false, "push_to_hub": false, "repo_id": null, "private": null, "tags": null, "license": null, "pretrained_path": null, "chunk_size": 16, "action_history_steps": 0, "n_action_steps": 4, "max_state_dim": 32, "max_action_dim": 7, "image_resolution": [ 224, 224 ], "hidden_dim": 384, "num_layers": 10, "num_heads": 6, "head_dim": 64, "mlp_hidden_dim": 1024, "attention_dropout": 0.0, "ffn_dropout": 0.05, "drop_path_rate": 0.0, "cross_attention_every": 2, "vision_backbone_id": "dinov3-vit-l-224px", "vision_pretrained": true, "use_language": false, "language_model_name": "google/siglip2-so400m-patch14-224", "language_pretrained": true, "tokenizer_max_length": 64, "state_hidden_dim": 128, "start_query_hidden_dim": 384, "classifier_hidden_dim": 384, "ema_decay": 0.999, "sample_top_k": 3, "intent_ensemble": true, "intent_ensemble_temperature": 0.5, "intent_ensemble_decay": 0.03, "codebook_size": 512, "codebook_dim": 32, "patch_nums": [ 1, 2, 4 ], "vqvae_name_or_path": "/inspire/qb-ilm/project/robot-decision/huangrenming-253108120148/MINT/outputs/sdat/h_16_bs_256_cbs_512_cbd_32_ch_48/2026-06-19-03-12-57/vae-ckpt-40.pth", "vqvae_ch": 48, "vqvae_ch_mult": [ 2, 4, 8 ], "vqvae_dropout": 0.1, "vqvae_beta": 0.25, "vqvae_using_znorm": true, "vqvae_quant_conv_ks": 3, "vqvae_quant_resi": 0.5, "vqvae_share_quant_resi": 0, "vqvae_patchwise": { "enable": true, "d_embed": 8, "grouped_depth": 2, "norm": "layer" }, "optimizer_lr": 0.0003, "optimizer_weight_decay": 0.005, "optimizer_grad_clip_norm": 2.0, "scheduler_warmup_steps": 1000, "scheduler_decay_steps": 100000, "scheduler_decay_lr": 9e-05, "normalization_mapping": { "VISUAL": "IDENTITY", "STATE": "QUANTILES", "ACTION": "IDENTITY" } }