sync model files

README.md

@@ -47,20 +47,20 @@ This LIBERO recipe matches OpenDM: it excludes state from the prompt and learns
 `policy.add_state=true` unless the target recipe specifies otherwise. Policy action representation and environment
 control mode are configured independently.
 
-DM05 recommends complete state/action statistics in the dataset's `meta/stats.json`. If a non-standard local
-dataset lacks them, generate the file before training:
+Absolute-action training uses the standard LeRobot state/action statistics in `meta/stats.json`. Relative-action
+training requires separately prepared statistics because its arm targets are `action - state`:
 
 ```bash
 uv run python -m lerobot.policies.dm05.prepare_stats_dm05 \
   --repo-id=org/dataset \
   --root=/path/to/dataset \
   --chunk-size=10 \
-  --drop-n-last-frames=1
+  --drop-n-last-frames=1 \
+  --force
 ```
 
-The command writes `meta/stats.json` in place. Match its chunk, episode selection, and action representation to
-training. For relative targets, add `--use-relative-actions` and use `--force` when replacing absolute-action
-statistics. Without target statistics, checkpoint statistics are reused with a warning and are valid only for the
+The command writes `meta/stats.json` in place. Match its chunk, episode selection, and excluded-joint settings to
+training. Without target statistics, checkpoint statistics are reused with a warning and are valid only for the
 same feature contract and distribution.
 
 ## Evaluation

config.json

@@ -333,7 +333,7 @@
     "empty_cameras": 0,
     "add_state": true,
     "pretrained_name_or_path": ".",
-    "processor_name_or_path": ".",
+    "processor_name_or_path": null,
     "image_keys": null,
     "n_bins": 256,
     "tokenizer_max_length": 1024,
@@ -386,4 +386,4 @@
     "scheduler_warmup_steps": 1000,
     "scheduler_decay_steps": 50000,
     "scheduler_decay_lr": 2.5e-06
-}
+}

tokenizer_config.json → dm05_processor/tokenizer_config.json

@@ -3,11 +3,11 @@
   "boi_token": "<start_of_image>",
   "boi_token_id": 255999,
   "bos_token": "<bos>",
-  "chat_template": "{{ bos_token }}\n{%- if messages[0]['role'] == 'system' -%}\n    {%- if messages[0]['content'] is string -%}\n        {%- set first_user_prefix = messages[0]['content'] + '\n\n' -%}\n    {%- else -%}\n        {%- set first_user_prefix = messages[0]['content'][0]['text'] + '\n\n' -%}\n    {%- endif -%}\n    {%- set loop_messages = messages[1:] -%}\n{%- else -%}\n    {%- set first_user_prefix = \"\" -%}\n    {%- set loop_messages = messages -%}\n{%- endif -%}\n{%- for message in loop_messages -%}\n    {%- if (message['role'] == 'user') != (loop.index0 % 2 == 0) -%}\n        {{ raise_exception(\"Conversation roles must alternate user/assistant/user/assistant/...\") }}\n    {%- endif -%}\n    {%- if (message['role'] == 'assistant') -%}\n        {%- set role = \"model\" -%}\n    {%- else -%}\n        {%- set role = message['role'] -%}\n    {%- endif -%}\n    {{ '<start_of_turn>' + role + '\n' + (first_user_prefix if loop.first else \"\") }}\n    {%- if message['content'] is string -%}\n        {{ message['content'] | trim }}\n    {%- elif message['content'] is iterable -%}\n        {%- for item in message['content'] -%}\n            {%- if item['type'] == 'image' -%}\n                {{ '<start_of_image>' }}\n            {%- elif item['type'] == 'text' -%}\n                {{ item['text'] | trim }}\n            {%- endif -%}\n        {%- endfor -%}\n    {%- else -%}\n        {{ raise_exception(\"Invalid content type\") }}\n    {%- endif -%}\n    {{ '<end_of_turn>\n' }}\n{%- endfor -%}\n{%- if add_generation_prompt -%}\n    {{'<start_of_turn>model\n'}}\n{%- endif -%}\n",
   "clean_up_tokenization_spaces": false,
   "eoi_token": "<end_of_image>",
   "eoi_token_id": 256000,
   "eos_token": "<eos>",
+  "fix_mistral_regex": false,
   "image_token": "<image_soft_token>",
   "image_token_id": 262144,
   "is_local": true,

policy_preprocessor.json

@@ -82,10 +82,8 @@
       "config": {}
     },
     {
-      "registry_name": "dm05_images_to_pil_processor",
-      "config": {
-        "image_keys": null
-      }
+      "registry_name": "dm05_state_bins_processor",
+      "config": {}
     },
     {
       "registry_name": "device_processor",
@@ -93,6 +91,15 @@
         "device": "cpu",
         "float_dtype": null
       }
+    },
+    {
+      "registry_name": "dm05_processor_artifacts",
+      "config": {
+        "processor_name_or_path": "dm05_processor"
+      },
+      "artifacts": {
+        "processor_name_or_path": "dm05_processor"
+      }
     }
   ]
-}
+}