| { | |
| "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 | |
| ] | |
| } |