{
  "_class_name": "GPSStateEstModel",
  "_diffusers_version": "0.37.0",
  "dropout": 0.1,
  "edge_feature_dim": 4,
  "group_size": 32,
  "hidden_dim": 128,
  "in_channels": 6,
  "max_num_nodes": 160,
  "num_embeds_ada_norm": 1000,
  "num_groups": 128,
  "num_heads": 8,
  "num_layers": 8,
  "out_channels": 3,
  "pcd_embed_dim": 1024,
  "rest_pos_centering": "pcd"
}