{ "type": "sarm", "n_obs_steps": 8, "input_features": { "observation.images.base": { "type": "VISUAL", "shape": [ 480, 640, 3 ] }, "observation.state": { "type": "STATE", "shape": [ 32 ] } }, "output_features": { "action": { "type": "ACTION", "shape": [ 16 ] } }, "device": "cuda", "use_amp": false, "push_to_hub": true, "repo_id": "pepijn223/sarm_1k", "private": null, "tags": null, "license": null, "pretrained_path": null, "annotation_mode": "dual", "frame_gap": 30, "max_rewind_steps": 4, "image_dim": 512, "text_dim": 512, "hidden_dim": 768, "num_heads": 12, "num_layers": 8, "max_state_dim": 32, "drop_n_last_frames": 1, "batch_size": 64, "clip_batch_size": 64, "dropout": 0.1, "stage_loss_weight": 1.0, "rewind_probability": 0.8, "language_perturbation_probability": 0.2, "num_sparse_stages": 1, "sparse_subtask_names": [ "Fold t-shirt" ], "sparse_temporal_proportions": [ 1.0 ], "num_dense_stages": 5, "dense_subtask_names": [ "Do first fold with both arms", "Slide t-shirt closer", "Do second fold with both arms", "Do third fold with one arm", "Do final fold with one arm to make a nice square folded t-shirt" ], "dense_temporal_proportions": [ 0.14711259363076604, 0.08305116624302009, 0.14677170180966917, 0.16127991987952986, 0.46178461843701474 ], "pretrained_model_path": null, "image_key": "observation.images.base", "state_key": "observation.state", "normalization_mapping": { "VISUAL": "IDENTITY", "STATE": "MEAN_STD", "LANGUAGE": "IDENTITY", "REWARD": "IDENTITY" } }