config.json

{
  "type": "octo",
  "model_name": "octo-small",
  "token_embedding_size": 384,
  "num_layers": 12,
  "num_heads": 6,
  "mlp_dim": 1536,
  "n_obs_steps": 1,
  "chunk_size": 10,
  "n_action_steps": 4,
  "action_dim": 7,
  "diffusion_steps": 20,
  "n_diffusion_samples": 1,
  "max_action": 5.0,
  "loss_type": "mse",
  "time_dim": 32,
  "num_blocks": 3,
  "hidden_dim": 256,
  "use_layer_norm": true,
  "dropout_rate": 0.0,
  "attention_dropout_rate": 0.0,
  "repeat_task_tokens": true,
  "add_position_embedding": false,
  "language_model_name": "t5-base",
  "language_max_length": 16,
  "freeze_language_encoder": true,
  "resize_primary_image": [
    256,
    256
  ],
  "resize_wrist_image": [
    128,
    128
  ]
}