{
  "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
}