{ "action_chunk_size": 5, "bet_softmax_temperature": 0.1, "crop_is_random": true, "crop_shape": [ 84, 84 ], "dropout": 0.1, "gpt_block_size": 500, "gpt_hidden_dim": 512, "gpt_input_dim": 512, "gpt_n_head": 8, "gpt_n_layer": 8, "gpt_output_dim": 512, "input_normalization_modes": { "observation.images.elp0": "mean_std", "observation.state": "mean_std" }, "input_shapes": { "observation.images.elp0": [ 3, 600, 800 ], "observation.state": [ 6 ] }, "mlp_hidden_dim": 1024, "n_action_pred_token": 7, "n_obs_steps": 5, "n_vqvae_training_steps": 20000, "offset_loss_weight": 10000.0, "output_normalization_modes": { "action": "min_max" }, "output_shapes": { "action": [ 6 ] }, "pretrained_backbone_weights": null, "primary_code_loss_weight": 5.0, "secondary_code_loss_weight": 0.5, "sequentially_select": false, "spatial_softmax_num_keypoints": 32, "use_group_norm": true, "vision_backbone": "resnet18", "vqvae_embedding_dim": 256, "vqvae_enc_hidden_dim": 128, "vqvae_n_embed": 16 }