config.json

{
  "action_horizon": 8,
  "drop_path": 0.1,
  "embed_dim": 256,
  "mae_loss_scale": 0.0,
  "masked_autoencoding": false,
  "no_trunk": false,
  "num_blocks": 16,
  "num_heads": 8,
  "observation_horizon": 4,
  "proprioception_expand": false,
  "proprioception_expand_dim": 1,
  "shared_modality_trunk": null,
  "token_postprocessing": "mean",
  "use_domain_embedding": false,
  "use_modality_embedding": true,
  "weight_init_style": "pytorch"
}