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config.json

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+{
+    "type": "act",
+    "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.tblock.center.xy_xaxis": {
+            "type": "ENV",
+            "shape": [
+                5
+            ]
+        }
+    },
+    "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

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b6cd1d0ae47613796be3960d05b9e4a155114ba8eb9f14d98b7503e41f27e2a1
+size 160926136