{
  "schema": "dodge_theia.deploy.1",
  "training_iteration": 4000,
  "checkpoint": "runs/diagnostics/theia_norm_aux_4000/latest.pt",
  "actor": {
    "file": "actor.onnx",
    "inputs": [
      {
        "name": "tokenizer",
        "shape": [
          640
        ],
        "groups": [
          "tokenizer"
        ],
        "term": null
      },
      {
        "name": "policy",
        "shape": [
          930
        ],
        "groups": [
          "policy"
        ],
        "term": null
      },
      {
        "name": "conditioning",
        "shape": [
          768
        ],
        "groups": [
          "conditioning"
        ],
        "term": null
      }
    ],
    "outputs": [
      "actions[29]"
    ],
    "sha256": "d51c90007160f4a3df878cf8353fac4ea80a47d1b285174952da652b2961cf9b",
    "note": "conditioning = concat(tokenizer[640], percept[128]); LoRAs folded into decoder"
  },
  "perception": {
    "file": "perception.onnx",
    "inputs": [
      "depth_tokens[16,197,192] fp32"
    ],
    "outputs": [
      "percept[128]"
    ],
    "sha256": "8610ee92c5cb6c0c86d17e2a8fcffb844656d1ababd6ba3309f3ba023cba2471",
    "note": "Theia tokens come from vision.tokenize (Python); cast fp16 cache to fp32 first"
  },
  "theia": {
    "repository": "theaiinstitute/theia-tiny-patch16-224-cddsv",
    "revision": "8ce99426c269617346c30112817f0e694e3cde2d"
  },
  "camera": {
    "pitch_deg": 0.0,
    "fovy_deg": 45.0,
    "width": 96,
    "height": 64,
    "rate_hz": 25.0,
    "depth_near_m": 0.2,
    "depth_far_m": 6.0,
    "position_torso_at_zero": [
      0.09,
      0.0,
      0.45
    ],
    "history": 16
  },
  "parity_max_abs_error": {
    "percept": 8.344650268554688e-07,
    "actions": 5.960464477539062e-07,
    "eager_split_vs_fused_b1": 7.152557373046875e-07,
    "eager_split_vs_fused_b3": 1.430511474609375e-06
  },
  "action_contract": "SONIC normalized PD residuals; 29 MuJoCo-ordered joints, NOT radians",
  "config": {
    "seed": 42,
    "mode": "depth_theia",
    "num_envs": 512,
    "iterations": 4000,
    "rollout_steps": 24,
    "epochs": 5,
    "minibatches": 4,
    "learning_rate": 0.001,
    "desired_kl": 0.01,
    "gamma": 0.99,
    "gae_lambda": 0.95,
    "clip": 0.2,
    "max_grad_norm": 1.0,
    "save_every": 25,
    "episode_seconds": 10.0,
    "camera_pitch_deg": 0.0,
    "neck_pivot_torso": [
      0.0,
      0.0,
      0.31
    ],
    "camera_position_torso_at_zero": [
      0.09,
      0.0,
      0.45
    ],
    "camera_fovy_deg": 45.0,
    "depth_width": 96,
    "depth_height": 64,
    "depth_history": 16,
    "camera_period_steps": 2,
    "depth_near": 0.2,
    "depth_far": 6.0,
    "depth_corruption": true,
    "pixel_dropout": 0.03,
    "patch_dropout": 0.15,
    "frame_dropout": 0.02,
    "max_latency_steps": 2,
    "robot_randomization": true,
    "stand_fraction": 0.15,
    "throw_angle_deg": 30.0,
    "distance_min": 1.8,
    "distance_max": 2.8,
    "flight_min": 0.55,
    "flight_max": 0.62,
    "horizontal_speed_min": 3.0,
    "horizontal_speed_max": 5.0,
    "release_height_min": 0.4,
    "release_height_max": 0.7,
    "aim_jitter": 0.04,
    "lead_velocity_gain": 1.0,
    "interval_min": 1.0,
    "interval_max": 3.0,
    "flight_lifetime": 1.0,
    "ball_radius": 0.127,
    "ball_mass": 0.62,
    "hit_penalty": 3.0,
    "fall_penalty": 3.0,
    "visibility_reward_per_second": 0.0,
    "theia_repository": "theaiinstitute/theia-tiny-patch16-224-cddsv",
    "theia_revision": "8ce99426c269617346c30112817f0e694e3cde2d",
    "theia_batch_size": 32,
    "feature_dtype": "float16",
    "theia_token_norm": true,
    "auxiliary_weight": 0.05,
    "auxiliary_lr": 0.0002,
    "auxiliary_batch_size": 256,
    "auxiliary_steps": 1
  }
}