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{
  "type": "dita",
  "n_obs_steps": 1,
  "input_features": {
    "observation.images.image": {
      "type": "VISUAL",
      "shape": [
        3,
        256,
        256
      ]
    }
  },
  "output_features": {
    "action": {
      "type": "ACTION",
      "shape": [
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      ]
    }
  },
  "device": "cuda",
  "use_peft": false,
  "push_to_hub": false,
  "repo_id": null,
  "private": null,
  "tags": null,
  "license": null,
  "pretrained_path": null,
  "dataset_suite": "libero_10_no_noops",
  "num_layers": 12,
  "traj_length": 11,
  "dropout_rate": 0.0,
  "freeze_backbone": false,
  "use_qformer": true,
  "prediction_type": "epsilon",
  "attn_implementation": "eager",
  "num_inference_steps": 10,
  "tokenizer_max_length": 77,
  "image_resolution": [
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  ],
  "chunk_size": 10,
  "n_action_steps": 1,
  "history_frames": 2,
  "gripper_threshold": 0.5,
  "normalization_mapping": {
    "VISUAL": "IDENTITY",
    "ACTION": "QUANTILES",
    "LANGUAGE": "IDENTITY"
  },
  "optimizer_lr": 0.0005,
  "optimizer_betas": [
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    0.95
  ],
  "optimizer_eps": 1e-08,
  "optimizer_weight_decay": 0.05,
  "optimizer_grad_clip_norm": 0.0,
  "dtype": "float16",
  "gripper_mode": "binary",
  "gradient_checkpointing": true,
  "optimizer_backbone_lr_scale": 0.1,
  "scheduler_warmup_steps": 1000,
  "scheduler_decay_steps": 100000,
  "scheduler_min_lr_scale": 0.01,
  "lora_dropout": 0.0,
  "image_preprocessing_device": "cpu"
}