{
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  "architectures": [
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  "attn_implementation": null,
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  "normalization_mapping": {
    "ACTION": "MEAN_STD",
    "STATE": "MEAN_STD",
    "VISUAL": "IDENTITY"
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  "optimizer_weight_decay": 1e-10,
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  "scheduler_decay_lr": 2.5e-06,
  "scheduler_decay_steps": 30000,
  "scheduler_warmup_steps": 1000,
  "tokenizer_max_length": 48,
  "torch_dtype": "bfloat16",
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  "use_amp": false,
  "use_cache": true,
  "use_delta_joint_actions_aloha": false
}