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| "type": "system2", | |
| "n_obs_steps": 1, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "input_features": { | |
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| "type": "VISUAL", | |
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| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
| "observation.images.wrist_image": { | |
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| 3, | |
| 256, | |
| 256 | |
| ] | |
| }, | |
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| 8 | |
| ] | |
| } | |
| }, | |
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| }, | |
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| 224 | |
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| "adapt_to_pi_aloha": false, | |
| "use_delta_joint_actions_aloha": false, | |
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| "scheduler_warmup_steps": 1000, | |
| "scheduler_decay_steps": 200000, | |
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| "model_type": "siglip_vision_model", | |
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| "rms_norm_eps": 1e-06, | |
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| } | |
| } |