| { | |
| "camera_keys": [ | |
| "observation.images.board", | |
| "observation.images.wrist" | |
| ], | |
| "state_dim": 6, | |
| "action_dim": 6, | |
| "n_obs_steps": 2, | |
| "horizon": 64, | |
| "n_action_steps": 32, | |
| "hidden_dim": 384, | |
| "depth": 8, | |
| "num_heads": 6, | |
| "mlp_ratio": 4.0, | |
| "num_train_timesteps": 100, | |
| "beta_schedule": "squaredcos_cap_v2", | |
| "beta_start": 0.0001, | |
| "beta_end": 0.02, | |
| "prediction_type": "epsilon", | |
| "clip_sample": true, | |
| "clip_sample_range": 1.0, | |
| "num_inference_steps": null, | |
| "vision_backbone_pretrained": true | |
| } |