config.json

{
  "model_type": "act",
  "description": "ACT (Action Chunking Transformer) robot policy, int8/bf16, compiled to 3 Torq NSS modules for Astra SL261x. SO-101, ResNet-18 backbone, 4 encoder layers + 1 decoder, chunk horizon 100.",
  "state_dim": 6,
  "action_dim": 6,
  "chunk_horizon": 100,
  "image_input": {"layout": "NHWC", "shape": [1, 480, 640, 3], "dtype": "int16"},
  "modules": ["backbone_fused.vmfb", "enc4_dattn.vmfb", "decoder_ffn.vmfb"],
  "host_glue": "glue_params.npz",
  "runtime": "torq-runtime (iree.runtime / VMFBInferenceRunner), device=torq, astra_machina"
}