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config.json

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+{
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+    "annotation_mode": "single_stage",
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+        "STATE": "MEAN_STD",
+        "LANGUAGE": "IDENTITY",
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+}

model.safetensors

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policy_postprocessor.json

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+{
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+  "steps": [
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+      "config": {
+        "device": "cpu",
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+      }
+    }
+  ]
+}

policy_preprocessor.json

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+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
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+      "config": {
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+          "LANGUAGE": "IDENTITY",
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+      "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
+    },
+    {
+      "class": "lerobot.policies.sarm.processor_sarm.SARMEncodingProcessorStep",
+      "config": {}
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+    {
+      "registry_name": "device_processor",
+      "config": {
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+}

policy_preprocessor_step_2_normalizer_processor.safetensors

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train_config.json

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+{
+    "dataset": {
+        "repo_id": "/home/sra/packsarm/sarm_wbcd_packing/scripts/../lerobot_dataset",
+        "root": "/home/sra/packsarm/sarm_wbcd_packing/scripts/../lerobot_dataset",
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+    "tolerance_s": 0.0001,
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+        "use_async_envs": false
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+        "disable_artifact": false,
+        "project": "lerobot",
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+    "rabc_kappa": 0.01,
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+}