config.json

{
  "common": {
    "action_dim": 14,
    "state_dim": 14,
    "num_video_frames": 8,
    "video_height": 384,
    "video_width": 320,
    "global_downsample_rate": 3,
    "video_action_freq_ratio": 2
  },
  "action_expert": {
    "hidden_size": 1024,
    "ffn_dim_multiplier": 4,
    "norm_eps": 1e-05
  },
  "und_expert": {
    "hidden_size": 512,
    "ffn_dim_multiplier": 4,
    "norm_eps": 1e-05,
    "vlm": {
      "input_dim": 2048,
      "projector_type": "mlp3x_silu"
    }
  },
  "time_distribution": {
    "timestep_sample_method": "logit_normal",
    "sigmoid_scale": 1.0,
    "min_t": 0.0,
    "max_t": 1.0
  },
  "ema": {
    "enabled": false,
    "update_after_step": 0,
    "inv_gamma": 1.0,
    "power": 0.75,
    "min_value": 0.0,
    "max_value": 0.9999
  }
}