| _target_: models.projector.inverse_dynamics.InverseDynamicsProjector | |
| window_size: ${window_size} | |
| input_dim: ${encoder.output_dim} | |
| n_layer: 6 | |
| n_head: 6 | |
| n_embd: 120 | |
| # output_dim: for sim environments, set it to the state-based observation dimension. | |
| # for real environments, set it to the estimated underlying environment state dimension. | |
| # (e.g. if we have a 7DoF robot arm and a free rigid object, 16 should work fine) | |
| output_dim: OUTPUT_DIM | |
| dropout: 0.0 | |