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config.json
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{
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"type": "transformer_diffusion",
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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.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.depth": {
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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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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path": null,
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"horizon": 16,
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"n_action_steps": 8,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MIN_MAX",
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"ACTION": "MIN_MAX"
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},
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"vision_backbone": "resnet18",
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"crop_shape": [
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84,
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84
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],
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"crop_is_random": true,
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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"use_group_norm": true,
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"spatial_softmax_num_keypoints": 32,
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"use_separate_rgb_encoder_per_camera": false,
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"state_dim": 7,
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"action_dim": 7,
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"d_model": 128,
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"nhead": 4,
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"num_encoder_layers": 4,
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"num_decoder_layers": 4,
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"dim_feedforward": 512,
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"dropout": 0.1,
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"activation": "relu",
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"state_token_dim": 64,
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"optimizer_lr": 0.0001,
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"optimizer_betas": [
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0.95,
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0.999
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 1e-06,
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"scheduler_name": "cosine",
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"scheduler_warmup_steps": 500,
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"do_mask_loss_for_padding": true
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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 sha256:2e1112f087b7fadcee68e7928fe26e0c1e4d292ef9b25ede0848c5785375374b
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size 97023028
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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": "MEAN_STD",
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"STATE": "MIN_MAX",
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"ACTION": "MIN_MAX"
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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 sha256:660b877c15527c6b075430c08c35f26c592ff7bb01b6ada6a4b6d8a1a82fdbeb
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size 4000
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policy_preprocessor.json
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{
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"name": "policy_preprocessor",
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"steps": [
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{
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"registry_name": "rename_observations_processor",
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"config": {
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"rename_map": {}
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}
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},
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{
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"registry_name": "to_batch_processor",
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"config": {}
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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": "cuda",
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"float_dtype": null
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}
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},
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{
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"registry_name": "normalizer_processor",
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"config": {
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"eps": 1e-08,
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"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.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.depth": {
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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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"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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| 56 |
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"VISUAL": "MEAN_STD",
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"STATE": "MIN_MAX",
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| 58 |
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"ACTION": "MIN_MAX"
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| 59 |
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}
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},
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"state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
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}
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| 63 |
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]
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| 64 |
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}
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policy_preprocessor_step_3_normalizer_processor.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:660b877c15527c6b075430c08c35f26c592ff7bb01b6ada6a4b6d8a1a82fdbeb
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| 3 |
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size 4000
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