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config.json

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+{
+  "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
+  }
+}

mp_rank_00_model_states.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a9b643f4cf087c543d3741a8ecbd9a158e6f3112c5d0f3e53f19ed16f682779a
+size 16042310159