_target_: moto_gpt.src.models.moto_gpt.MotoGPT
model_lang: 
  _target_: transformers.T5EncoderModel.from_pretrained
  pretrained_model_name_or_path: "t5-base"
model_vision: 
  _target_: moto_gpt.src.models.mae_model.MaeEncoder
  use_obs_feature: true
  pretrained_model_name_or_path: "facebook/vit-mae-large"
model_causal_transformer:
  _target_: moto_gpt.src.models.trajectory_gpt2.GPT2Model
  config: 
    _target_: moto_gpt.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: 5
per_latent_motion_len: 8
latent_motion_codebook_size: 128
latent_motion_pred: true
act_pred: true
img_feat_dim: 1024
patch_feat_dim: 1024
lang_feat_dim: 768
mask_latent_motion_probability: 0.5
freeze_lang: true
freeze_vision: true