# @package agent
_target_: roboimi.vla.agent.VLAAgent

# Vision Backbone: ResNet-18 with SpatialSoftmax
vision_backbone:
  _target_: roboimi.vla.models.backbones.resnet.ResNetBackbone
  model_name: "microsoft/resnet-18"
  freeze: true

# Action and Observation Dimensions
action_dim: 16
obs_dim: 16

# Prediction and Observation Horizons
pred_horizon: 16
obs_horizon: 2

# Diffusion Parameters
diffusion_steps: 100  # Number of diffusion timesteps for training

# Camera Configuration
# num_cams 应与 data.camera_names 列表长度一致
# 可使用 Hydra OmegaConf resolver: ${oc.len:data.camera_names}
# 但部分版本不支持，这里手动保持同步
num_cams: 3  # len(data.camera_names) = 3
