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activation: lrelu
add_corr: true
add_depth: true
add_lang: true
add_pixel_loc: true
add_proprio: true
attn_dim: 512
attn_dim_head: 64
attn_dropout: 0.1
attn_heads: 8
decoder_dropout: 0.0
depth: 8
feat_dim: 220
final_dim: 64
im_channels: 64
img_feat_dim: 3
img_patch_size: 11
img_size: 220
lang_dim: 512
lang_len: 77
pe_fix: true
proprio_dim: 3
self_cross_ver: 1
use_dropout: true
weight_tie_layers: false
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