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config.json
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{
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"type": "transformer_flow_matching",
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"n_obs_steps": 2,
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"input_features": {
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"observation.state": {
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"type": "STATE",
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"shape": [
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7
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]
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},
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"observation.box": {
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"type": "STATE",
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"shape": [
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6,
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6
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]
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},
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"observation.images.gripper": {
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"type": "VISUAL",
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"shape": [
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3,
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400,
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640
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]
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},
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"observation.images.front": {
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"type": "VISUAL",
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"shape": [
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3,
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400,
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640
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]
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},
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"observation.images.right": {
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"type": "VISUAL",
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"shape": [
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3,
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400,
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640
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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7
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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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"push_to_hub": true,
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"repo_id": null,
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| 55 |
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"private": null,
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"tags": null,
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"license": null,
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| 58 |
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"pretrained_path": null,
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"horizon": 64,
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| 60 |
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"n_action_steps": 64,
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| 61 |
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "MEAN_STD",
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| 64 |
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"ACTION": "MEAN_STD"
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| 65 |
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},
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"vision_input_size": 384,
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| 67 |
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"num_cameras": 3,
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| 68 |
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"num_vlm_layers": 16,
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| 69 |
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"detection_classes": [
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"cube",
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| 71 |
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"container"
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| 72 |
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],
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| 73 |
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"detection_conf": 0.1,
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| 74 |
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"cameras_for_vision_state_concat": [
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| 75 |
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"observation.images.front",
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| 76 |
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"observation.images.gripper",
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| 77 |
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"observation.images.right"
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| 78 |
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],
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| 79 |
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"state_dim": 7,
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| 80 |
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"action_dim": 7,
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| 81 |
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"d_model": 512,
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| 82 |
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"nhead": 8,
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| 83 |
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"num_decoder_layers": 16,
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"dim_feedforward": 2048,
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| 85 |
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"num_inference_steps": 10,
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| 86 |
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"noise_temporal_correlation": 0.0,
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| 87 |
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"action_dim_weights": [
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1.0,
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| 89 |
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1.0,
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| 90 |
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1.0,
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| 91 |
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0.0,
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| 92 |
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1.0,
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| 93 |
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1.0,
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1.0
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| 95 |
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],
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"pos_decay_lambda": 0.0,
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| 97 |
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"future_steps_weight": 0.3,
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| 98 |
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"optimizer_lr": 1.0292122447163358e-05,
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| 99 |
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"optimizer_betas": [
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0.95,
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| 101 |
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0.999
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| 102 |
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],
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| 103 |
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"optimizer_eps": 1e-08,
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| 104 |
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"optimizer_weight_decay": 1e-06,
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| 105 |
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"scheduler_warmup_steps": 1500,
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| 106 |
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"robot_encoder_tokens": 16,
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| 107 |
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"robot_encoder_input_size": 224,
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| 108 |
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"lora_rank": 16,
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| 109 |
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"lora_alpha": 32,
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| 110 |
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"lora_dropout": 0.05,
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| 111 |
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"lora_target_modules": [
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"q_proj",
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| 113 |
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"v_proj"
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| 114 |
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],
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| 115 |
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"vision_lora_num_layers": 8,
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| 116 |
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"training_step": 102000,
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| 117 |
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"training_epoch": 355,
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| 118 |
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"current_lr": 1.0292122447163358e-05,
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| 119 |
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"training_steps_total": 200000
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}
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model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:4b9d91c54e037389892a63ab53b6fe625cd6b4d01d6165ce7b0c1ad89c16b6aa
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size 908628348
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optimizer_state.pth
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version https://git-lfs.github.com/spec/v1
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oid sha256:05161c417f76886fc41711d2dc18b90840b9071ebc922c647688e613d32d3410
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size 605670966
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policy_postprocessor.json
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{
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"name": "policy_postprocessor",
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"steps": [
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{
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"registry_name": "unnormalizer_processor",
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"config": {
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"eps": 1e-08,
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"features": {
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"action": {
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"type": "ACTION",
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"shape": [
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7
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]
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}
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},
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"norm_map": {
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"VISUAL": "IDENTITY",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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}
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},
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
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},
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{
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"registry_name": "device_processor",
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"config": {
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"device": "cpu",
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"float_dtype": null
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}
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}
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]
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}
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policy_postprocessor_step_0_unnormalizer_processor.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:86b18f2142a215fac7b691996ee9c15c953cd3f9ee566217398df3abf0324cee
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size 4400
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policy_preprocessor.json
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{
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"name": "policy_preprocessor",
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| 3 |
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"steps": [
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| 4 |
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{
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| 5 |
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"registry_name": "rename_observations_processor",
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| 6 |
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"config": {
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| 7 |
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"rename_map": {}
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| 8 |
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}
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| 9 |
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},
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| 10 |
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{
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| 11 |
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"registry_name": "to_batch_processor",
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| 12 |
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"config": {}
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| 13 |
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},
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| 14 |
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{
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| 15 |
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"registry_name": "device_processor",
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| 16 |
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"config": {
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| 17 |
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"device": "cuda",
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| 18 |
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"float_dtype": null
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| 19 |
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}
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| 20 |
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},
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| 21 |
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{
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| 22 |
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"registry_name": "normalizer_processor",
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| 23 |
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"config": {
|
| 24 |
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"eps": 1e-08,
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| 25 |
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"features": {
|
| 26 |
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"observation.state": {
|
| 27 |
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"type": "STATE",
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| 28 |
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"shape": [
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| 29 |
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7
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]
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| 31 |
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},
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| 32 |
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"observation.box": {
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| 33 |
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"type": "STATE",
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| 34 |
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"shape": [
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| 35 |
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6,
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| 36 |
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6
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| 37 |
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]
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| 38 |
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},
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| 39 |
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"observation.images.gripper": {
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| 40 |
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"type": "VISUAL",
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| 41 |
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"shape": [
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| 42 |
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3,
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400,
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640
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]
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| 46 |
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},
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| 47 |
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"observation.images.front": {
|
| 48 |
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"type": "VISUAL",
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| 49 |
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"shape": [
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| 50 |
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3,
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| 51 |
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400,
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| 52 |
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640
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| 53 |
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]
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| 54 |
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},
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| 55 |
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"observation.images.right": {
|
| 56 |
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"type": "VISUAL",
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| 57 |
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"shape": [
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| 58 |
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3,
|
| 59 |
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400,
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| 60 |
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640
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| 61 |
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]
|
| 62 |
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},
|
| 63 |
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"action": {
|
| 64 |
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"type": "ACTION",
|
| 65 |
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"shape": [
|
| 66 |
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7
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| 67 |
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]
|
| 68 |
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}
|
| 69 |
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},
|
| 70 |
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"norm_map": {
|
| 71 |
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"VISUAL": "IDENTITY",
|
| 72 |
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"STATE": "MEAN_STD",
|
| 73 |
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"ACTION": "MEAN_STD"
|
| 74 |
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}
|
| 75 |
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},
|
| 76 |
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"state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
|
| 77 |
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}
|
| 78 |
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]
|
| 79 |
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}
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policy_preprocessor_step_3_normalizer_processor.safetensors
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:86b18f2142a215fac7b691996ee9c15c953cd3f9ee566217398df3abf0324cee
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| 3 |
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size 4400
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