{ "action_dim": 128, "ema": { "inv_gamma": 1.0, "max_value": 0.9999, "min_value": 0.0, "power": 0.75, "update_after_step": 0 }, "img_adaptor": "mlp2x_gelu", "img_cond_len": 4374, "img_pos_embed_config": [ [ "image", [ 2, 3, -729 ] ] ], "img_token_dim": 1152, "lang_adaptor": "mlp2x_gelu", "lang_pos_embed_config": [ [ "lang", -1024 ] ], "lang_token_dim": 4096, "max_lang_cond_len": 1024, "noise_scheduler": { "beta_schedule": "squaredcos_cap_v2", "clip_sample": false, "num_inference_timesteps": 5, "num_train_timesteps": 1000, "prediction_type": "sample", "type": "ddpm" }, "pred_horizon": 64, "rdt": { "cond_pos_embed_type": "multimodal", "depth": 14, "hidden_size": 1024, "num_heads": 32 }, "state_adaptor": "mlp3x_gelu", "state_token_dim": 128 }