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awb-pretrained/config.json
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{
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"action_dim": 128,
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"ema": {
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"inv_gamma": 1.0,
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"max_value": 0.9999,
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"min_value": 0.0,
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"power": 0.75,
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"update_after_step": 0
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},
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"img_adaptor": "mlp2x_gelu",
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"img_cond_len": 4374,
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"img_pos_embed_config": [
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[
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"image",
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[
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2,
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3,
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-729
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]
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]
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],
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"img_token_dim": 1152,
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"lang_adaptor": "mlp2x_gelu",
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"lang_pos_embed_config": [
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[
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"lang",
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-1024
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]
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],
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"lang_token_dim": 4096,
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"max_lang_cond_len": 1024,
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"noise_scheduler": {
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"beta_schedule": "squaredcos_cap_v2",
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"clip_sample": false,
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"num_inference_timesteps": 5,
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"num_train_timesteps": 1000,
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"prediction_type": "sample",
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"type": "ddpm"
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},
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"pred_horizon": 64,
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"rdt": {
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"cond_pos_embed_type": "multimodal",
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"depth": 28,
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"hidden_size": 2048,
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"num_heads": 32
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},
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"state_adaptor": "mlp3x_gelu",
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"state_token_dim": 128
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}
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awb-pretrained/pytorch_model.bin
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version https://git-lfs.github.com/spec/v1
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oid sha256:c2531337de89e1467d047bec99cfb2feb2f186083f8007a7039d49f6c6361021
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size 2456755834
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