{ "type": "prana_v2", "n_obs_steps": 1, "input_features": { "observation.state": { "type": "STATE", "shape": [ 6 ] }, "observation.images.table": { "type": "VISUAL", "shape": [ 3, 480, 640 ] }, "observation.images.wrist": { "type": "VISUAL", "shape": [ 3, 480, 640 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 6 ] } }, "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": 50, "n_action_steps": 40, "inpaint_steps": 10, "hidden_dim": 256, "n_heads": 8, "dim_feedforward": 768, "n_encoder_layers": 4, "n_decoder_layers": 8, "dropout": 0.05, "num_denoise_steps": 10, "noise_beta": 0.5, "time_sampling_alpha": 1.5, "time_sampling_beta": 1.0, "use_delta_actions": true, "use_per_timestamp_norm": true, "vision_backbone": "vit_tiny_patch16_224", "freeze_backbone": true, "unfreeze_last_n_blocks": 0, "camera_order": [ "observation.images.table", "observation.images.wrist" ], "normalization_mapping": { "VISUAL": "MEAN_STD", "STATE": "MEAN_STD", "ACTION": "MEAN_STD" }, "optimizer_lr": 0.0001, "optimizer_weight_decay": 0.0001 }