23 lines
348 B
YAML
23 lines
348 B
YAML
_target_: roboimi.vla.models.heads.gr00t_dit1d.Gr00tDiT1D
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_partial_: true
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# DiT architecture
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n_layer: 6
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n_head: 8
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n_emb: 256
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hidden_dim: 256
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mlp_ratio: 4
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dropout: 0.1
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# Positional embeddings
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add_action_pos_emb: true
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add_cond_pos_emb: true
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# Supplied by agent interpolation:
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# - input_dim
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# - output_dim
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# - horizon
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# - n_obs_steps
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# - cond_dim
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