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config.json

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+{
+  "act_adaptor": "mlp3x_silu",
+  "act_pos_emb_config": [
+    [
+      "action",
+      24
+    ],
+    [
+      "register",
+      4
+    ]
+  ],
+  "action_dim": 20,
+  "img_pos_emb_config": null,
+  "img_token_dim": 2176,
+  "lang_pos_emb_config": null,
+  "lang_token_dim": null,
+  "max_img_len": null,
+  "max_lang_len": null,
+  "noise_scheduler": {
+    "num_inference_timesteps": 5
+  },
+  "pred_horizon": 24,
+  "rdt": {
+    "depth": 14,
+    "ffn_dim_multiplier": null,
+    "hidden_size": 1024,
+    "multiple_of": 256,
+    "norm_eps": 1e-05,
+    "num_heads": 8,
+    "num_kv_heads": 4,
+    "num_register_tokens": 4,
+    "use_flash_attn": true
+  },
+  "selected_layers": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13
+  ],
+  "state_adaptor": "mlp3x_silu",
+  "state_dim": 20
+}

pytorch_model.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbdbce79fc2448432093cab2215b4f3e4e68bca0807d86f212631fbbba38106c
+size 975438675