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config.json

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+{
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD",
+        "ENV": "MEAN_STD"
+    },
+    "input_features": {
+        "observation.right.joint": {
+            "type": "STATE",
+            "shape": [
+                8
+            ]
+        },
+        "observation.environment.main_camera.image.aug3": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                720,
+                1280
+            ]
+        }
+    },
+    "output_features": {
+        "action.right.joint": {
+            "type": "ACTION",
+            "shape": [
+                8
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "chunk_size": 100,
+    "n_action_steps": 50,
+    "vision_backbone": "resnet18",
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "replace_final_stride_with_dilation": false,
+    "pre_norm": false,
+    "dim_model": 512,
+    "n_heads": 8,
+    "dim_feedforward": 3200,
+    "feedforward_activation": "relu",
+    "n_encoder_layers": 4,
+    "n_decoder_layers": 1,
+    "use_vae": true,
+    "latent_dim": 32,
+    "n_vae_encoder_layers": 4,
+    "temporal_ensemble_coeff": null,
+    "dropout": 0.1,
+    "kl_weight": 10.0,
+    "optimizer_lr": 1e-05,
+    "optimizer_weight_decay": 0.0001,
+    "optimizer_lr_backbone": 1e-05
+}

model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae07f0ddc04192013062efbefb82f8940b29a3ed672d05904b719115f2d6be9c
+size 206717336