{ "action_horizon": 24, "cnn_config": { "dropout": 0.0, "hidden_size": 256, "output_size": 256 }, "codebook_cost": 0.0, "codebook_restart_interval": 64, "commitment_cost": 0.25, "embedding_dim": 32, "input_dim": { "grip": 2, "pos": 6, "rot": 12 }, "local_rank": 0, "n_codebooks": { "grip": 1, "pos": 6, "rot": 2 }, "num_embeddings": 1024 }