Add files using upload-large-folder tool

DeMiAn-VLA/molmobot/40000/assets/droid/norm_stats.json

@@ -0,0 +1,280 @@
+{
+  "norm_stats": {
+    "actions": {
+      "mean": [
+        -0.00472901866709525,
+        0.011388235604800786,
+        0.001825141694746182,
+        0.028471763133568993,
+        0.001342906416782047,
+        -0.002978336488361622,
+        0.0028646739072654254,
+        0.45140399925478786,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "std": [
+        0.1555912402862041,
+        0.3074590841735031,
+        0.1514089017296873,
+        0.30116801315764397,
+        0.22751769153326873,
+        0.24581617376611345,
+        0.26948180190273524,
+        0.4413864921810166,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -0.45799999999999996,
+        -0.8076,
+        -0.44719999999999993,
+        -0.9268,
+        -0.6456,
+        -0.6459999999999999,
+        -0.7616,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        0.4476,
+        0.7652000000000001,
+        0.4480000000000002,
+        0.7944,
+        0.6484000000000001,
+        0.6628000000000001,
+        0.7344000000000002,
+        0.9998,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ]
+    },
+    "state": {
+      "mean": [
+        0.016237762316468146,
+        0.26715409834621,
+        -0.016710053356134087,
+        -2.0255712993077326,
+        -0.03266582860490208,
+        2.344549184149644,
+        0.08269685385513066,
+        0.3997888614549533,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "std": [
+        0.30769924638771073,
+        0.48216030004631877,
+        0.26944263961875825,
+        0.48189821046318276,
+        0.5374187843900121,
+        0.45384659499775365,
+        0.7474676080830999,
+        0.40705741517596306,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -0.8279732212066653,
+        -0.8398311847686768,
+        -0.8425482082366944,
+        -2.773015278291702,
+        -1.8426181347846986,
+        1.1716566389799117,
+        -2.047264838027954,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        0.8996522880554196,
+        1.385467470359802,
+        0.6920277433395388,
+        -0.4542043057203293,
+        1.732314240932464,
+        3.4672964780330657,
+        2.1984972072601314,
+        0.991,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ]
+    }
+  }
+}

DeMiAn-VLA/openpi/assets/robocasa/norm_stats.json

@@ -0,0 +1,116 @@
+{
+  "norm_stats": {
+    "state": {
+      "mean": [
+        2.6554720730520303,
+        -2.1050982910926304,
+        0.7003734506494868,
+        0.0,
+        0.0,
+        0.24122084088167853,
+        0.605577845185736,
+        0.2641830145828227,
+        -0.02032607187264104,
+        0.44241522472642564,
+        -0.23474613633646724,
+        0.04119143414645862,
+        -0.07233533425850153,
+        0.14970975671150574,
+        0.031613834654085814,
+        -0.03181995759178955
+      ],
+      "std": [
+        1.666793251067402,
+        1.3554149077074797,
+        0.0009591408589111306,
+        0.0,
+        0.0,
+        0.6614809535068223,
+        0.3708516130812581,
+        0.16497710356610584,
+        0.2554363882352108,
+        0.2131777035121959,
+        0.8209203354965093,
+        0.3096474028747115,
+        0.34024088821796084,
+        0.17319507014163976,
+        0.01268755502054438,
+        0.012466625220048622
+      ],
+      "q01": [
+        -1.1116703342976806,
+        -5.669072198176312,
+        0.699956202738356,
+        0.0,
+        0.0,
+        -1.0,
+        6.909828312018362e-7,
+        -0.14602224252057502,
+        -0.5928796176692538,
+        -0.11507141266593322,
+        -0.9980545520782471,
+        -0.6941591954231262,
+        -0.7560270714759827,
+        0.0010401235288009048,
+        -0.000040366682293731136,
+        -0.040870898948625986
+      ],
+      "q99": [
+        6.285111890435582,
+        -0.5021464773947527,
+        0.7045351733073701,
+        0.0,
+        0.0,
+        1.0,
+        1.0,
+        0.7284869640270215,
+        0.5935328617012927,
+        0.8676030096287974,
+        0.9970631670951844,
+        0.7781902885437013,
+        0.7308220720291141,
+        0.6845076179504396,
+        0.04066664487455119,
+        0.00003701639084139315
+      ]
+    },
+    "actions": {
+      "mean": [
+        0.008597333656634652,
+        -0.006988538212856791,
+        -0.08596660121735804,
+        0.008786964041757763,
+        -0.02513115153365771,
+        -0.0001609236312764428,
+        -0.3467500159949418
+      ],
+      "std": [
+        0.45376908502252433,
+        0.42069604523360754,
+        0.40001079330512407,
+        0.11431748221074722,
+        0.1344356514022471,
+        0.12765074716068672,
+        0.9379575824055855
+      ],
+      "q01": [
+        -1.0,
+        -1.0,
+        -1.0,
+        -0.34,
+        -0.4714285714285714,
+        -0.4114285714285714,
+        -1.0
+      ],
+      "q99": [
+        1.0,
+        1.0,
+        1.0,
+        0.4285714285714286,
+        0.3514285714285714,
+        0.41428571428571437,
+        1.0
+      ]
+    }
+  }
+}

instructor/molmospaces/chat_template.jinja

@@ -0,0 +1,154 @@
+{%- set image_count = namespace(value=0) %}
+{%- set video_count = namespace(value=0) %}
+{%- macro render_content(content, do_vision_count, is_system_content=false) %}
+    {%- if content is string %}
+        {{- content }}
+    {%- elif content is iterable and content is not mapping %}
+        {%- for item in content %}
+            {%- if 'image' in item or 'image_url' in item or item.type == 'image' %}
+                {%- if is_system_content %}
+                    {{- raise_exception('System message cannot contain images.') }}
+                {%- endif %}
+                {%- if do_vision_count %}
+                    {%- set image_count.value = image_count.value + 1 %}
+                {%- endif %}
+                {%- if add_vision_id %}
+                    {{- 'Picture ' ~ image_count.value ~ ': ' }}
+                {%- endif %}
+                {{- '<|vision_start|><|image_pad|><|vision_end|>' }}
+            {%- elif 'video' in item or item.type == 'video' %}
+                {%- if is_system_content %}
+                    {{- raise_exception('System message cannot contain videos.') }}
+                {%- endif %}
+                {%- if do_vision_count %}
+                    {%- set video_count.value = video_count.value + 1 %}
+                {%- endif %}
+                {%- if add_vision_id %}
+                    {{- 'Video ' ~ video_count.value ~ ': ' }}
+                {%- endif %}
+                {{- '<|vision_start|><|video_pad|><|vision_end|>' }}
+            {%- elif 'text' in item %}
+                {{- item.text }}
+            {%- else %}
+                {{- raise_exception('Unexpected item type in content.') }}
+            {%- endif %}
+        {%- endfor %}
+    {%- elif content is none or content is undefined %}
+        {{- '' }}
+    {%- else %}
+        {{- raise_exception('Unexpected content type.') }}
+    {%- endif %}
+{%- endmacro %}
+{%- if not messages %}
+    {{- raise_exception('No messages provided.') }}
+{%- endif %}
+{%- if tools and tools is iterable and tools is not mapping %}
+    {{- '<|im_start|>system\n' }}
+    {{- "# Tools\n\nYou have access to the following functions:\n\n<tools>" }}
+    {%- for tool in tools %}
+        {{- "\n" }}
+        {{- tool | tojson }}
+    {%- endfor %}
+    {{- "\n</tools>" }}
+    {{- '\n\nIf you choose to call a function ONLY reply in the following format with NO suffix:\n\n<tool_call>\n<function=example_function_name>\n<parameter=example_parameter_1>\nvalue_1\n</parameter>\n<parameter=example_parameter_2>\nThis is the value for the second parameter\nthat can span\nmultiple lines\n</parameter>\n</function>\n</tool_call>\n\n<IMPORTANT>\nReminder:\n- Function calls MUST follow the specified format: an inner <function=...></function> block must be nested within <tool_call></tool_call> XML tags\n- Required parameters MUST be specified\n- You may provide optional reasoning for your function call in natural language BEFORE the function call, but NOT after\n- If there is no function call available, answer the question like normal with your current knowledge and do not tell the user about function calls\n</IMPORTANT>' }}
+    {%- if messages[0].role == 'system' %}
+        {%- set content = render_content(messages[0].content, false, true)|trim %}
+        {%- if content %}
+            {{- '\n\n' + content }}
+        {%- endif %}
+    {%- endif %}
+    {{- '<|im_end|>\n' }}
+{%- else %}
+    {%- if messages[0].role == 'system' %}
+        {%- set content = render_content(messages[0].content, false, true)|trim %}
+        {{- '<|im_start|>system\n' + content + '<|im_end|>\n' }}
+    {%- endif %}
+{%- endif %}
+{%- set ns = namespace(multi_step_tool=true, last_query_index=messages|length - 1) %}
+{%- for message in messages[::-1] %}
+    {%- set index = (messages|length - 1) - loop.index0 %}
+    {%- if ns.multi_step_tool and message.role == "user" %}
+        {%- set content = render_content(message.content, false)|trim %}
+        {%- if not(content.startswith('<tool_response>') and content.endswith('</tool_response>')) %}
+            {%- set ns.multi_step_tool = false %}
+            {%- set ns.last_query_index = index %}
+        {%- endif %}
+    {%- endif %}
+{%- endfor %}
+{%- if ns.multi_step_tool %}
+    {{- raise_exception('No user query found in messages.') }}
+{%- endif %}
+{%- for message in messages %}
+    {%- set content = render_content(message.content, true)|trim %}
+    {%- if message.role == "system" %}
+        {%- if not loop.first %}
+            {{- raise_exception('System message must be at the beginning.') }}
+        {%- endif %}
+    {%- elif message.role == "user" %}
+        {{- '<|im_start|>' + message.role + '\n' + content + '<|im_end|>' + '\n' }}
+    {%- elif message.role == "assistant" %}
+        {%- set reasoning_content = '' %}
+        {%- if message.reasoning_content is string %}
+            {%- set reasoning_content = message.reasoning_content %}
+        {%- else %}
+            {%- if '</think>' in content %}
+                {%- set reasoning_content = content.split('</think>')[0].rstrip('\n').split('<think>')[-1].lstrip('\n') %}
+                {%- set content = content.split('</think>')[-1].lstrip('\n') %}
+            {%- endif %}
+        {%- endif %}
+        {%- set reasoning_content = reasoning_content|trim %}
+        {%- if loop.index0 > ns.last_query_index %}
+            {{- '<|im_start|>' + message.role + '\n<think>\n' + reasoning_content + '\n</think>\n\n' + content }}
+        {%- else %}
+            {{- '<|im_start|>' + message.role + '\n' + content }}
+        {%- endif %}
+        {%- if message.tool_calls and message.tool_calls is iterable and message.tool_calls is not mapping %}
+            {%- for tool_call in message.tool_calls %}
+                {%- if tool_call.function is defined %}
+                    {%- set tool_call = tool_call.function %}
+                {%- endif %}
+                {%- if loop.first %}
+                    {%- if content|trim %}
+                        {{- '\n\n<tool_call>\n<function=' + tool_call.name + '>\n' }}
+                    {%- else %}
+                        {{- '<tool_call>\n<function=' + tool_call.name + '>\n' }}
+                    {%- endif %}
+                {%- else %}
+                    {{- '\n<tool_call>\n<function=' + tool_call.name + '>\n' }}
+                {%- endif %}
+                {%- if tool_call.arguments is defined %}
+                    {%- for args_name, args_value in tool_call.arguments|items %}
+                        {{- '<parameter=' + args_name + '>\n' }}
+                        {%- set args_value = args_value | tojson | safe if args_value is mapping or (args_value is sequence and args_value is not string) else args_value | string %}
+                        {{- args_value }}
+                        {{- '\n</parameter>\n' }}
+                    {%- endfor %}
+                {%- endif %}
+                {{- '</function>\n</tool_call>' }}
+            {%- endfor %}
+        {%- endif %}
+        {{- '<|im_end|>\n' }}
+    {%- elif message.role == "tool" %}
+        {%- if loop.previtem and loop.previtem.role != "tool" %}
+            {{- '<|im_start|>user' }}
+        {%- endif %}
+        {{- '\n<tool_response>\n' }}
+        {{- content }}
+        {{- '\n</tool_response>' }}
+        {%- if not loop.last and loop.nextitem.role != "tool" %}
+            {{- '<|im_end|>\n' }}
+        {%- elif loop.last %}
+            {{- '<|im_end|>\n' }}
+        {%- endif %}
+    {%- else %}
+        {{- raise_exception('Unexpected message role.') }}
+    {%- endif %}
+{%- endfor %}
+{%- if add_generation_prompt %}
+    {{- '<|im_start|>assistant\n' }}
+    {%- if enable_thinking is defined and enable_thinking is true %}
+        {{- '<think>\n' }}
+    {%- else %}
+        {{- '<think>\n\n</think>\n\n' }}
+    {%- endif %}
+{%- endif %}

instructor/molmospaces/config.json

@@ -0,0 +1,101 @@
+{
+  "architectures": [
+    "Qwen3_5ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "image_token_id": 248056,
+  "model_type": "qwen3_5",
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "attn_output_gate": true,
+    "bos_token_id": null,
+    "dtype": "bfloat16",
+    "eos_token_id": 248044,
+    "full_attention_interval": 4,
+    "head_dim": 256,
+    "hidden_act": "silu",
+    "hidden_size": 2048,
+    "initializer_range": 0.02,
+    "intermediate_size": 6144,
+    "layer_types": [
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention"
+    ],
+    "linear_conv_kernel_dim": 4,
+    "linear_key_head_dim": 128,
+    "linear_num_key_heads": 16,
+    "linear_num_value_heads": 16,
+    "linear_value_head_dim": 128,
+    "mamba_ssm_dtype": "float32",
+    "max_position_embeddings": 262144,
+    "mlp_only_layers": [],
+    "model_type": "qwen3_5_text",
+    "mtp_num_hidden_layers": 1,
+    "mtp_use_dedicated_embeddings": false,
+    "num_attention_heads": 8,
+    "num_hidden_layers": 24,
+    "num_key_value_heads": 2,
+    "pad_token_id": null,
+    "partial_rotary_factor": 0.25,
+    "rms_norm_eps": 1e-06,
+    "rope_parameters": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        11,
+        11,
+        10
+      ],
+      "partial_rotary_factor": 0.25,
+      "rope_theta": 10000000,
+      "rope_type": "default"
+    },
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 248320
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "5.8.1",
+  "video_token_id": 248057,
+  "vision_config": {
+    "deepstack_visual_indexes": [],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_5_vision",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2048,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 248054,
+  "vision_start_token_id": 248053
+}

instructor/molmospaces/generation_config.json

@@ -0,0 +1,6 @@
+{
+  "_from_model_config": true,
+  "eos_token_id": 248044,
+  "transformers_version": "5.8.1",
+  "use_cache": true
+}

instructor/molmospaces/processor_config.json

@@ -0,0 +1,60 @@
+{
+  "image_processor": {
+    "do_convert_rgb": true,
+    "do_normalize": true,
+    "do_rescale": true,
+    "do_resize": true,
+    "image_mean": [
+      0.5,
+      0.5,
+      0.5
+    ],
+    "image_processor_type": "Qwen2VLImageProcessor",
+    "image_std": [
+      0.5,
+      0.5,
+      0.5
+    ],
+    "merge_size": 2,
+    "patch_size": 16,
+    "resample": 3,
+    "rescale_factor": 0.00392156862745098,
+    "size": {
+      "longest_edge": 16777216,
+      "shortest_edge": 65536
+    },
+    "temporal_patch_size": 2
+  },
+  "processor_class": "Qwen3VLProcessor",
+  "video_processor": {
+    "do_convert_rgb": true,
+    "do_normalize": true,
+    "do_rescale": true,
+    "do_resize": true,
+    "do_sample_frames": true,
+    "fps": 2,
+    "image_mean": [
+      0.5,
+      0.5,
+      0.5
+    ],
+    "image_std": [
+      0.5,
+      0.5,
+      0.5
+    ],
+    "max_frames": 768,
+    "merge_size": 2,
+    "min_frames": 4,
+    "patch_size": 16,
+    "resample": 3,
+    "rescale_factor": 0.00392156862745098,
+    "return_metadata": false,
+    "size": {
+      "longest_edge": 25165824,
+      "shortest_edge": 4096
+    },
+    "temporal_patch_size": 2,
+    "video_processor_type": "Qwen3VLVideoProcessor"
+  }
+}

instructor/molmospaces/tokenizer_config.json

@@ -0,0 +1,33 @@
+{
+  "add_prefix_space": false,
+  "audio_bos_token": "<|audio_start|>",
+  "audio_eos_token": "<|audio_end|>",
+  "audio_token": "<|audio_pad|>",
+  "backend": "tokenizers",
+  "bos_token": null,
+  "clean_up_tokenization_spaces": false,
+  "eos_token": "<|im_end|>",
+  "errors": "replace",
+  "image_token": "<|image_pad|>",
+  "is_local": true,
+  "local_files_only": false,
+  "model_max_length": 262144,
+  "model_specific_special_tokens": {
+    "audio_bos_token": "<|audio_start|>",
+    "audio_eos_token": "<|audio_end|>",
+    "audio_token": "<|audio_pad|>",
+    "image_token": "<|image_pad|>",
+    "video_token": "<|video_pad|>",
+    "vision_bos_token": "<|vision_start|>",
+    "vision_eos_token": "<|vision_end|>"
+  },
+  "pad_token": "<|endoftext|>",
+  "pretokenize_regex": "(?i:'s|'t|'re|'ve|'m|'ll|'d)|[^\\r\\n\\p{L}\\p{N}]?[\\p{L}\\p{M}]+|\\p{N}| ?[^\\s\\p{L}\\p{M}\\p{N}]+[\\r\\n]*|\\s*[\\r\\n]+|\\s+(?!\\S)|\\s+",
+  "processor_class": "Qwen3VLProcessor",
+  "split_special_tokens": false,
+  "tokenizer_class": "Qwen2Tokenizer",
+  "unk_token": null,
+  "video_token": "<|video_pad|>",
+  "vision_bos_token": "<|vision_start|>",
+  "vision_eos_token": "<|vision_end|>"
+}

instructor/robocasa/chat_template.jinja

@@ -0,0 +1,154 @@
+{%- set image_count = namespace(value=0) %}
+{%- set video_count = namespace(value=0) %}
+{%- macro render_content(content, do_vision_count, is_system_content=false) %}
+    {%- if content is string %}
+        {{- content }}
+    {%- elif content is iterable and content is not mapping %}
+        {%- for item in content %}
+            {%- if 'image' in item or 'image_url' in item or item.type == 'image' %}
+                {%- if is_system_content %}
+                    {{- raise_exception('System message cannot contain images.') }}
+                {%- endif %}
+                {%- if do_vision_count %}
+                    {%- set image_count.value = image_count.value + 1 %}
+                {%- endif %}
+                {%- if add_vision_id %}
+                    {{- 'Picture ' ~ image_count.value ~ ': ' }}
+                {%- endif %}
+                {{- '<|vision_start|><|image_pad|><|vision_end|>' }}
+            {%- elif 'video' in item or item.type == 'video' %}
+                {%- if is_system_content %}
+                    {{- raise_exception('System message cannot contain videos.') }}
+                {%- endif %}
+                {%- if do_vision_count %}
+                    {%- set video_count.value = video_count.value + 1 %}
+                {%- endif %}
+                {%- if add_vision_id %}
+                    {{- 'Video ' ~ video_count.value ~ ': ' }}
+                {%- endif %}
+                {{- '<|vision_start|><|video_pad|><|vision_end|>' }}
+            {%- elif 'text' in item %}
+                {{- item.text }}
+            {%- else %}
+                {{- raise_exception('Unexpected item type in content.') }}
+            {%- endif %}
+        {%- endfor %}
+    {%- elif content is none or content is undefined %}
+        {{- '' }}
+    {%- else %}
+        {{- raise_exception('Unexpected content type.') }}
+    {%- endif %}
+{%- endmacro %}
+{%- if not messages %}
+    {{- raise_exception('No messages provided.') }}
+{%- endif %}
+{%- if tools and tools is iterable and tools is not mapping %}
+    {{- '<|im_start|>system\n' }}
+    {{- "# Tools\n\nYou have access to the following functions:\n\n<tools>" }}
+    {%- for tool in tools %}
+        {{- "\n" }}
+        {{- tool | tojson }}
+    {%- endfor %}
+    {{- "\n</tools>" }}
+    {{- '\n\nIf you choose to call a function ONLY reply in the following format with NO suffix:\n\n<tool_call>\n<function=example_function_name>\n<parameter=example_parameter_1>\nvalue_1\n</parameter>\n<parameter=example_parameter_2>\nThis is the value for the second parameter\nthat can span\nmultiple lines\n</parameter>\n</function>\n</tool_call>\n\n<IMPORTANT>\nReminder:\n- Function calls MUST follow the specified format: an inner <function=...></function> block must be nested within <tool_call></tool_call> XML tags\n- Required parameters MUST be specified\n- You may provide optional reasoning for your function call in natural language BEFORE the function call, but NOT after\n- If there is no function call available, answer the question like normal with your current knowledge and do not tell the user about function calls\n</IMPORTANT>' }}
+    {%- if messages[0].role == 'system' %}
+        {%- set content = render_content(messages[0].content, false, true)|trim %}
+        {%- if content %}
+            {{- '\n\n' + content }}
+        {%- endif %}
+    {%- endif %}
+    {{- '<|im_end|>\n' }}
+{%- else %}
+    {%- if messages[0].role == 'system' %}
+        {%- set content = render_content(messages[0].content, false, true)|trim %}
+        {{- '<|im_start|>system\n' + content + '<|im_end|>\n' }}
+    {%- endif %}
+{%- endif %}
+{%- set ns = namespace(multi_step_tool=true, last_query_index=messages|length - 1) %}
+{%- for message in messages[::-1] %}
+    {%- set index = (messages|length - 1) - loop.index0 %}
+    {%- if ns.multi_step_tool and message.role == "user" %}
+        {%- set content = render_content(message.content, false)|trim %}
+        {%- if not(content.startswith('<tool_response>') and content.endswith('</tool_response>')) %}
+            {%- set ns.multi_step_tool = false %}
+            {%- set ns.last_query_index = index %}
+        {%- endif %}
+    {%- endif %}
+{%- endfor %}
+{%- if ns.multi_step_tool %}
+    {{- raise_exception('No user query found in messages.') }}
+{%- endif %}
+{%- for message in messages %}
+    {%- set content = render_content(message.content, true)|trim %}
+    {%- if message.role == "system" %}
+        {%- if not loop.first %}
+            {{- raise_exception('System message must be at the beginning.') }}
+        {%- endif %}
+    {%- elif message.role == "user" %}
+        {{- '<|im_start|>' + message.role + '\n' + content + '<|im_end|>' + '\n' }}
+    {%- elif message.role == "assistant" %}
+        {%- set reasoning_content = '' %}
+        {%- if message.reasoning_content is string %}
+            {%- set reasoning_content = message.reasoning_content %}
+        {%- else %}
+            {%- if '</think>' in content %}
+                {%- set reasoning_content = content.split('</think>')[0].rstrip('\n').split('<think>')[-1].lstrip('\n') %}
+                {%- set content = content.split('</think>')[-1].lstrip('\n') %}
+            {%- endif %}
+        {%- endif %}
+        {%- set reasoning_content = reasoning_content|trim %}
+        {%- if loop.index0 > ns.last_query_index %}
+            {{- '<|im_start|>' + message.role + '\n<think>\n' + reasoning_content + '\n</think>\n\n' + content }}
+        {%- else %}
+            {{- '<|im_start|>' + message.role + '\n' + content }}
+        {%- endif %}
+        {%- if message.tool_calls and message.tool_calls is iterable and message.tool_calls is not mapping %}
+            {%- for tool_call in message.tool_calls %}
+                {%- if tool_call.function is defined %}
+                    {%- set tool_call = tool_call.function %}
+                {%- endif %}
+                {%- if loop.first %}
+                    {%- if content|trim %}
+                        {{- '\n\n<tool_call>\n<function=' + tool_call.name + '>\n' }}
+                    {%- else %}
+                        {{- '<tool_call>\n<function=' + tool_call.name + '>\n' }}
+                    {%- endif %}
+                {%- else %}
+                    {{- '\n<tool_call>\n<function=' + tool_call.name + '>\n' }}
+                {%- endif %}
+                {%- if tool_call.arguments is defined %}
+                    {%- for args_name, args_value in tool_call.arguments|items %}
+                        {{- '<parameter=' + args_name + '>\n' }}
+                        {%- set args_value = args_value | tojson | safe if args_value is mapping or (args_value is sequence and args_value is not string) else args_value | string %}
+                        {{- args_value }}
+                        {{- '\n</parameter>\n' }}
+                    {%- endfor %}
+                {%- endif %}
+                {{- '</function>\n</tool_call>' }}
+            {%- endfor %}
+        {%- endif %}
+        {{- '<|im_end|>\n' }}
+    {%- elif message.role == "tool" %}
+        {%- if loop.previtem and loop.previtem.role != "tool" %}
+            {{- '<|im_start|>user' }}
+        {%- endif %}
+        {{- '\n<tool_response>\n' }}
+        {{- content }}
+        {{- '\n</tool_response>' }}
+        {%- if not loop.last and loop.nextitem.role != "tool" %}
+            {{- '<|im_end|>\n' }}
+        {%- elif loop.last %}
+            {{- '<|im_end|>\n' }}
+        {%- endif %}
+    {%- else %}
+        {{- raise_exception('Unexpected message role.') }}
+    {%- endif %}
+{%- endfor %}
+{%- if add_generation_prompt %}
+    {{- '<|im_start|>assistant\n' }}
+    {%- if enable_thinking is defined and enable_thinking is true %}
+        {{- '<think>\n' }}
+    {%- else %}
+        {{- '<think>\n\n</think>\n\n' }}
+    {%- endif %}
+{%- endif %}

instructor/robocasa/config.json

@@ -0,0 +1,102 @@
+{
+  "architectures": [
+    "Qwen3_5ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "image_token_id": 248056,
+  "model_type": "qwen3_5",
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "attn_output_gate": true,
+    "bos_token_id": null,
+    "dtype": "bfloat16",
+    "eos_token_id": 248044,
+    "full_attention_interval": 4,
+    "head_dim": 256,
+    "hidden_act": "silu",
+    "hidden_size": 2048,
+    "initializer_range": 0.02,
+    "intermediate_size": 6144,
+    "layer_types": [
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention"
+    ],
+    "linear_conv_kernel_dim": 4,
+    "linear_key_head_dim": 128,
+    "linear_num_key_heads": 16,
+    "linear_num_value_heads": 16,
+    "linear_value_head_dim": 128,
+    "mamba_ssm_dtype": "float32",
+    "max_position_embeddings": 262144,
+    "mlp_only_layers": [],
+    "model_type": "qwen3_5_text",
+    "mtp_num_hidden_layers": 1,
+    "mtp_use_dedicated_embeddings": false,
+    "num_attention_heads": 8,
+    "num_hidden_layers": 24,
+    "num_key_value_heads": 2,
+    "pad_token_id": null,
+    "partial_rotary_factor": 0.25,
+    "rms_norm_eps": 1e-06,
+    "rope_parameters": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        11,
+        11,
+        10
+      ],
+      "partial_rotary_factor": 0.25,
+      "rope_theta": 10000000,
+      "rope_type": "default"
+    },
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 248320
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "5.6.0",
+  "use_cache": false,
+  "video_token_id": 248057,
+  "vision_config": {
+    "deepstack_visual_indexes": [],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_5_vision",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2048,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 248054,
+  "vision_start_token_id": 248053
+}

instructor/robocasa/generation_config.json

@@ -0,0 +1,6 @@
+{
+  "_from_model_config": true,
+  "eos_token_id": 248044,
+  "transformers_version": "5.6.0",
+  "use_cache": true
+}

instructor/robocasa/processor_config.json

@@ -0,0 +1,60 @@
+{
+  "image_processor": {
+    "do_convert_rgb": true,
+    "do_normalize": true,
+    "do_rescale": true,
+    "do_resize": true,
+    "image_mean": [
+      0.5,
+      0.5,
+      0.5
+    ],
+    "image_processor_type": "Qwen2VLImageProcessor",
+    "image_std": [
+      0.5,
+      0.5,
+      0.5
+    ],
+    "merge_size": 2,
+    "patch_size": 16,
+    "resample": 3,
+    "rescale_factor": 0.00392156862745098,
+    "size": {
+      "longest_edge": 16777216,
+      "shortest_edge": 65536
+    },
+    "temporal_patch_size": 2
+  },
+  "processor_class": "Qwen3VLProcessor",
+  "video_processor": {
+    "do_convert_rgb": true,
+    "do_normalize": true,
+    "do_rescale": true,
+    "do_resize": true,
+    "do_sample_frames": true,
+    "fps": 2,
+    "image_mean": [
+      0.5,
+      0.5,
+      0.5
+    ],
+    "image_std": [
+      0.5,
+      0.5,
+      0.5
+    ],
+    "max_frames": 768,
+    "merge_size": 2,
+    "min_frames": 4,
+    "patch_size": 16,
+    "resample": 3,
+    "rescale_factor": 0.00392156862745098,
+    "return_metadata": false,
+    "size": {
+      "longest_edge": 25165824,
+      "shortest_edge": 4096
+    },
+    "temporal_patch_size": 2,
+    "video_processor_type": "Qwen3VLVideoProcessor"
+  }
+}

instructor/robocasa/tokenizer_config.json

@@ -0,0 +1,33 @@
+{
+  "add_prefix_space": false,
+  "audio_bos_token": "<|audio_start|>",
+  "audio_eos_token": "<|audio_end|>",
+  "audio_token": "<|audio_pad|>",
+  "backend": "tokenizers",
+  "bos_token": null,
+  "clean_up_tokenization_spaces": false,
+  "eos_token": "<|im_end|>",
+  "errors": "replace",
+  "image_token": "<|image_pad|>",
+  "is_local": true,
+  "local_files_only": false,
+  "model_max_length": 262144,
+  "model_specific_special_tokens": {
+    "audio_bos_token": "<|audio_start|>",
+    "audio_eos_token": "<|audio_end|>",
+    "audio_token": "<|audio_pad|>",
+    "image_token": "<|image_pad|>",
+    "video_token": "<|video_pad|>",
+    "vision_bos_token": "<|vision_start|>",
+    "vision_eos_token": "<|vision_end|>"
+  },
+  "pad_token": "<|endoftext|>",
+  "pretokenize_regex": "(?i:'s|'t|'re|'ve|'m|'ll|'d)|[^\\r\\n\\p{L}\\p{N}]?[\\p{L}\\p{M}]+|\\p{N}| ?[^\\s\\p{L}\\p{M}\\p{N}]+[\\r\\n]*|\\s*[\\r\\n]+|\\s+(?!\\S)|\\s+",
+  "processor_class": "Qwen3VLProcessor",
+  "split_special_tokens": false,
+  "tokenizer_class": "Qwen2Tokenizer",
+  "unk_token": null,
+  "video_token": "<|video_pad|>",
+  "vision_bos_token": "<|vision_start|>",
+  "vision_eos_token": "<|vision_end|>"
+}