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{
  "Diffusion": true,
  "S": 1024,
  "T": 12,
  "action_contrastive_loss": false,
  "action_domains": [
    "language_table"
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  "action_loss_weight": 0.5,
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  "action_stats": [
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  "action_token_size": 64,
  "arch": "STTransformerDecoder",
  "attn_drop": 0.1,
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  "jointly_predict_states": true,
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  "num_heads": 8,
  "num_layers": 32,
  "num_prompt_frames": 4,
  "num_sampling_steps": "100",
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  "predict_unmask": false,
  "proj_bias": true,
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  "qk_norm": false,
  "qkv_bias": true,
  "random_dummy_action": true,
  "shared_action_mlps": true,
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}