type: diffusion_policy
vision_language_backbone:
  type: clip_backbone
  hf_pretrained: openai/clip-vit-base-patch32
  disable_text: false
transformer:
  type: transformer
  vocab_size: 1000
  hidden_dim: 128
  n_layers: 2
  n_heads: 4
  max_seq_len: 2048
  ffn_type: swiglu
  attn_name: torch_attn
  norm_eps: 1.0e-05
  norm_type: default_layer_norm
  positional_embedding_type: rotary
  post_embed_norm: false
  qk_norm: false
  resume_from_checkpoint: null
  resume_weights_only: false
  weight_tying: false
noise_scheduler:
  num_timesteps: 100
  beta_start: 0.0001
  beta_end: 0.02
use_flow_matching_scheduler: true
diffusion_step_conditioning: concat
action_dim: 7
