| { | |
| "action_horizon": 8, | |
| "drop_path": 0.1, | |
| "embed_dim": 256, | |
| "mae_loss_scale": 0.0, | |
| "masked_autoencoding": false, | |
| "no_trunk": false, | |
| "num_blocks": 16, | |
| "num_heads": 8, | |
| "observation_horizon": 4, | |
| "proprioception_expand": false, | |
| "proprioception_expand_dim": 1, | |
| "shared_modality_trunk": null, | |
| "token_postprocessing": "mean", | |
| "use_domain_embedding": false, | |
| "use_modality_embedding": true, | |
| "weight_init_style": "pytorch" | |
| } |