config.json

{
    "type": "dot",
    "n_obs_steps": 3,
    "normalization_mapping": {
        "VISUAL": "MEAN_STD",
        "STATE": "MIN_MAX",
        "ENV": "MIN_MAX",
        "ACTION": "MIN_MAX"
    },
    "input_features": {
        "observation.images.top": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        },
        "observation.state": {
            "type": "STATE",
            "shape": [
                14
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                14
            ]
        }
    },
    "train_horizon": 150,
    "inference_horizon": 100,
    "lookback_obs_steps": 30,
    "lookback_aug": 5,
    "override_dataset_stats": false,
    "new_dataset_stats": {
        "action": {
            "max": [
                512.0,
                512.0
            ],
            "min": [
                0.0,
                0.0
            ]
        },
        "observation.environment_state": {
            "max": [
                512.0,
                512.0,
                512.0,
                512.0,
                512.0,
                512.0,
                512.0,
                512.0,
                512.0,
                512.0,
                512.0,
                512.0,
                512.0,
                512.0,
                512.0,
                512.0
            ],
            "min": [
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0,
                0.0
            ]
        },
        "observation.state": {
            "max": [
                512.0,
                512.0
            ],
            "min": [
                0.0,
                0.0
            ]
        }
    },
    "vision_backbone": "resnet18",
    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
    "pre_norm": true,
    "lora_rank": 20,
    "merge_lora": false,
    "dim_model": 128,
    "n_heads": 8,
    "dim_feedforward": 512,
    "n_decoder_layers": 8,
    "rescale_shape": [
        480,
        640
    ],
    "crop_scale": 1.0,
    "state_noise": 0.01,
    "noise_decay": 0.999995,
    "dropout": 0.1,
    "alpha": 0.98,
    "train_alpha": 0.99,
    "predict_every_n": 1,
    "return_every_n": 1,
    "optimizer_lr": 3e-05,
    "optimizer_min_lr": 1e-05,
    "optimizer_lr_cycle_steps": 100000,
    "optimizer_weight_decay": 1e-05
}