| _target_: unilact.src.models.unilact.UniLACT | |
| model_lang: | |
| _target_: transformers.T5EncoderModel.from_pretrained | |
| pretrained_model_name_or_path: t5-base | |
| model_vision: | |
| _target_: unilact.src.models.mae_model.MaeEncoder | |
| use_obs_feature: true | |
| pretrained_model_name_or_path: facebook/vit-mae-large | |
| model_causal_transformer: | |
| _target_: unilact.src.models.trajectory_gpt2.GPT2Model | |
| config: | |
| _target_: unilact.src.models.trajectory_gpt2.GPT2Config | |
| vocab_size: 1 | |
| n_embd: 768 | |
| n_layer: 12 | |
| n_head: 12 | |
| activation_function: relu | |
| dropout: 0.1 | |
| n_positions: 1024 | |
| act_dim: 7 | |
| hidden_size: 768 | |
| sequence_length: 2 | |
| chunk_size: 3 | |
| per_latent_motion_len: 8 | |
| latent_motion_codebook_size: 128 | |
| latent_motion_pred: true | |
| act_pred: false | |
| img_feat_dim: 1024 | |
| patch_feat_dim: 1024 | |
| lang_feat_dim: 768 | |
| mask_latent_motion_probability: 1.0 | |
| freeze_lang: true | |
| freeze_vision: true | |
| use_latent_motion_pos_embedding: true | |
| pred_tokens_modality: unified | |
| output_modality_tokens: cross-modal | |