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- .gitattributes +50 -0
- config.json +71 -0
- model.safetensors +3 -0
- policy_postprocessor.json +32 -0
- policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- policy_preprocessor.json +64 -0
- policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
- result_lerobot.txt +10 -0
- train_config.json +201 -0
- video0.mp4 +3 -0
- video1.mp4 +3 -0
- video10.mp4 +3 -0
- video11.mp4 +3 -0
- video12.mp4 +3 -0
- video13.mp4 +3 -0
- video14.mp4 +3 -0
- video15.mp4 +3 -0
- video16.mp4 +3 -0
- video17.mp4 +3 -0
- video18.mp4 +3 -0
- video19.mp4 +3 -0
- video2.mp4 +3 -0
- video20.mp4 +3 -0
- video21.mp4 +3 -0
- video22.mp4 +3 -0
- video23.mp4 +3 -0
- video24.mp4 +3 -0
- video25.mp4 +3 -0
- video26.mp4 +3 -0
- video27.mp4 +3 -0
- video28.mp4 +3 -0
- video29.mp4 +3 -0
- video3.mp4 +3 -0
- video30.mp4 +3 -0
- video31.mp4 +3 -0
- video32.mp4 +3 -0
- video33.mp4 +3 -0
- video34.mp4 +3 -0
- video35.mp4 +3 -0
- video36.mp4 +3 -0
- video37.mp4 +3 -0
- video38.mp4 +3 -0
- video39.mp4 +3 -0
- video4.mp4 +3 -0
- video40.mp4 +3 -0
- video41.mp4 +3 -0
- video42.mp4 +3 -0
- video43.mp4 +3 -0
- video44.mp4 +3 -0
- video45.mp4 +3 -0
.gitattributes
CHANGED
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@@ -33,3 +33,53 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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*.zip filter=lfs diff=lfs merge=lfs -text
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*.zip filter=lfs diff=lfs merge=lfs -text
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*.zst filter=lfs diff=lfs merge=lfs -text
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*tfevents* filter=lfs diff=lfs merge=lfs -text
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video0.mp4 filter=lfs diff=lfs merge=lfs -text
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video1.mp4 filter=lfs diff=lfs merge=lfs -text
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video10.mp4 filter=lfs diff=lfs merge=lfs -text
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video11.mp4 filter=lfs diff=lfs merge=lfs -text
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video12.mp4 filter=lfs diff=lfs merge=lfs -text
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video13.mp4 filter=lfs diff=lfs merge=lfs -text
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video14.mp4 filter=lfs diff=lfs merge=lfs -text
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video15.mp4 filter=lfs diff=lfs merge=lfs -text
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video16.mp4 filter=lfs diff=lfs merge=lfs -text
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video17.mp4 filter=lfs diff=lfs merge=lfs -text
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video18.mp4 filter=lfs diff=lfs merge=lfs -text
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video19.mp4 filter=lfs diff=lfs merge=lfs -text
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video2.mp4 filter=lfs diff=lfs merge=lfs -text
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video20.mp4 filter=lfs diff=lfs merge=lfs -text
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video21.mp4 filter=lfs diff=lfs merge=lfs -text
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video22.mp4 filter=lfs diff=lfs merge=lfs -text
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video23.mp4 filter=lfs diff=lfs merge=lfs -text
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video24.mp4 filter=lfs diff=lfs merge=lfs -text
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video25.mp4 filter=lfs diff=lfs merge=lfs -text
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video26.mp4 filter=lfs diff=lfs merge=lfs -text
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video27.mp4 filter=lfs diff=lfs merge=lfs -text
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video28.mp4 filter=lfs diff=lfs merge=lfs -text
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video29.mp4 filter=lfs diff=lfs merge=lfs -text
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video3.mp4 filter=lfs diff=lfs merge=lfs -text
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video30.mp4 filter=lfs diff=lfs merge=lfs -text
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video31.mp4 filter=lfs diff=lfs merge=lfs -text
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video32.mp4 filter=lfs diff=lfs merge=lfs -text
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video33.mp4 filter=lfs diff=lfs merge=lfs -text
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video34.mp4 filter=lfs diff=lfs merge=lfs -text
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video35.mp4 filter=lfs diff=lfs merge=lfs -text
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video36.mp4 filter=lfs diff=lfs merge=lfs -text
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video37.mp4 filter=lfs diff=lfs merge=lfs -text
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video38.mp4 filter=lfs diff=lfs merge=lfs -text
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video39.mp4 filter=lfs diff=lfs merge=lfs -text
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video4.mp4 filter=lfs diff=lfs merge=lfs -text
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video40.mp4 filter=lfs diff=lfs merge=lfs -text
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video41.mp4 filter=lfs diff=lfs merge=lfs -text
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video42.mp4 filter=lfs diff=lfs merge=lfs -text
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video43.mp4 filter=lfs diff=lfs merge=lfs -text
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video44.mp4 filter=lfs diff=lfs merge=lfs -text
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video45.mp4 filter=lfs diff=lfs merge=lfs -text
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video46.mp4 filter=lfs diff=lfs merge=lfs -text
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video49.mp4 filter=lfs diff=lfs merge=lfs -text
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video5.mp4 filter=lfs diff=lfs merge=lfs -text
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video6.mp4 filter=lfs diff=lfs merge=lfs -text
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video8.mp4 filter=lfs diff=lfs merge=lfs -text
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video9.mp4 filter=lfs diff=lfs merge=lfs -text
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config.json
ADDED
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@@ -0,0 +1,71 @@
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{
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"type": "act",
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"n_obs_steps": 1,
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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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14
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"observation.images.head_cam": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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},
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"observation.images.left_wrist": {
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"type": "VISUAL",
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"shape": [
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640
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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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14
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]
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}
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},
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"device": "cuda",
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"use_amp": true,
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"use_peft": false,
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"push_to_hub": true,
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"repo_id": "Servo7/act-sim-pick-cube-r1",
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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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"chunk_size": 100,
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"n_action_steps": 100,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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},
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"vision_backbone": "resnet18",
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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"replace_final_stride_with_dilation": false,
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"pre_norm": false,
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"dim_model": 512,
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"n_heads": 8,
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"dim_feedforward": 3200,
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"feedforward_activation": "relu",
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"n_encoder_layers": 4,
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"n_decoder_layers": 1,
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"use_vae": true,
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"latent_dim": 32,
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"n_vae_encoder_layers": 4,
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"temporal_ensemble_coeff": null,
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"dropout": 0.1,
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"kl_weight": 10.0,
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"optimizer_lr": 1e-05,
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"optimizer_weight_decay": 0.0001,
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"optimizer_lr_backbone": 1e-05
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}
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model.safetensors
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:b5b9572e5979052f48ef8e1b3455f147169ed224c12e5d9cf34c99a641e5f13a
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size 206765304
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policy_postprocessor.json
ADDED
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{
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"name": "policy_postprocessor",
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"steps": [
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{
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| 5 |
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"registry_name": "unnormalizer_processor",
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| 6 |
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"config": {
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| 7 |
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"eps": 1e-08,
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| 8 |
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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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14
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]
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}
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},
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"norm_map": {
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| 17 |
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"VISUAL": "MEAN_STD",
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"STATE": "MEAN_STD",
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| 19 |
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"ACTION": "MEAN_STD"
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| 20 |
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}
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| 21 |
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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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| 25 |
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"registry_name": "device_processor",
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"config": {
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| 27 |
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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
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:85da39157236c86a6b617b6d7f6e354b78884f487731a861e6c871150817efac
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size 8288
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policy_preprocessor.json
ADDED
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{
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"name": "policy_preprocessor",
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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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"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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},
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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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{
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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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"device": "cuda",
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| 18 |
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"float_dtype": null
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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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"registry_name": "normalizer_processor",
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| 23 |
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"config": {
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| 24 |
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"eps": 1e-08,
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| 25 |
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"features": {
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| 26 |
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"observation.state": {
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"type": "STATE",
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"shape": [
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14
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]
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},
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"observation.images.head_cam": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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640
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]
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},
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| 40 |
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"observation.images.left_wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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480,
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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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14
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]
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}
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},
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| 55 |
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"norm_map": {
|
| 56 |
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"VISUAL": "MEAN_STD",
|
| 57 |
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"STATE": "MEAN_STD",
|
| 58 |
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"ACTION": "MEAN_STD"
|
| 59 |
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}
|
| 60 |
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},
|
| 61 |
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"state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
|
| 62 |
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}
|
| 63 |
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]
|
| 64 |
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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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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:85da39157236c86a6b617b6d7f6e354b78884f487731a861e6c871150817efac
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| 3 |
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size 8288
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result_lerobot.txt
ADDED
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@@ -0,0 +1,10 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
|
| 2 |
+
Success rate: 0.98
|
| 3 |
+
Average return: 321.16
|
| 4 |
+
|
| 5 |
+
Reward >= 0: 50/50 = 100.0%
|
| 6 |
+
Reward >= 1: 50/50 = 100.0%
|
| 7 |
+
Reward >= 2: 49/50 = 98.0%
|
| 8 |
+
[np.int64(353), np.int64(360), np.int64(357), np.int64(2), np.int64(360), np.int64(364), np.int64(360), np.int64(359), np.int64(361), np.int64(360), np.int64(369), np.int64(351), np.int64(367), np.int64(358), np.int64(366), np.int64(378), np.int64(360), np.int64(361), np.int64(363), np.int64(352), np.int64(362), np.int64(357), np.int64(367), np.int64(356), np.int64(164), np.int64(365), np.int64(355), np.int64(6), np.int64(365), np.int64(356), np.int64(3), np.int64(350), np.int64(360), np.int64(364), np.int64(363), np.int64(354), np.int64(368), np.int64(353), np.int64(4), np.int64(365), np.int64(363), np.int64(358), np.int64(7), np.int64(369), np.int64(365), np.int64(367), np.int64(361), np.int64(363), np.int64(351), np.int64(356)]
|
| 9 |
+
|
| 10 |
+
[np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(1), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2), np.int64(2)]
|
train_config.json
ADDED
|
@@ -0,0 +1,201 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"dataset": {
|
| 3 |
+
"repo_id": "Servo7/sim-pick-cube-r1",
|
| 4 |
+
"root": null,
|
| 5 |
+
"episodes": null,
|
| 6 |
+
"image_transforms": {
|
| 7 |
+
"enable": false,
|
| 8 |
+
"max_num_transforms": 3,
|
| 9 |
+
"random_order": false,
|
| 10 |
+
"tfs": {
|
| 11 |
+
"brightness": {
|
| 12 |
+
"weight": 1.0,
|
| 13 |
+
"type": "ColorJitter",
|
| 14 |
+
"kwargs": {
|
| 15 |
+
"brightness": [
|
| 16 |
+
0.8,
|
| 17 |
+
1.2
|
| 18 |
+
]
|
| 19 |
+
}
|
| 20 |
+
},
|
| 21 |
+
"contrast": {
|
| 22 |
+
"weight": 1.0,
|
| 23 |
+
"type": "ColorJitter",
|
| 24 |
+
"kwargs": {
|
| 25 |
+
"contrast": [
|
| 26 |
+
0.8,
|
| 27 |
+
1.2
|
| 28 |
+
]
|
| 29 |
+
}
|
| 30 |
+
},
|
| 31 |
+
"saturation": {
|
| 32 |
+
"weight": 1.0,
|
| 33 |
+
"type": "ColorJitter",
|
| 34 |
+
"kwargs": {
|
| 35 |
+
"saturation": [
|
| 36 |
+
0.5,
|
| 37 |
+
1.5
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"hue": {
|
| 42 |
+
"weight": 1.0,
|
| 43 |
+
"type": "ColorJitter",
|
| 44 |
+
"kwargs": {
|
| 45 |
+
"hue": [
|
| 46 |
+
-0.05,
|
| 47 |
+
0.05
|
| 48 |
+
]
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
"sharpness": {
|
| 52 |
+
"weight": 1.0,
|
| 53 |
+
"type": "SharpnessJitter",
|
| 54 |
+
"kwargs": {
|
| 55 |
+
"sharpness": [
|
| 56 |
+
0.5,
|
| 57 |
+
1.5
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"affine": {
|
| 62 |
+
"weight": 1.0,
|
| 63 |
+
"type": "RandomAffine",
|
| 64 |
+
"kwargs": {
|
| 65 |
+
"degrees": [
|
| 66 |
+
-5.0,
|
| 67 |
+
5.0
|
| 68 |
+
],
|
| 69 |
+
"translate": [
|
| 70 |
+
0.05,
|
| 71 |
+
0.05
|
| 72 |
+
]
|
| 73 |
+
}
|
| 74 |
+
}
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"revision": null,
|
| 78 |
+
"use_imagenet_stats": true,
|
| 79 |
+
"video_backend": "torchcodec",
|
| 80 |
+
"streaming": false
|
| 81 |
+
},
|
| 82 |
+
"env": null,
|
| 83 |
+
"policy": {
|
| 84 |
+
"type": "act",
|
| 85 |
+
"n_obs_steps": 1,
|
| 86 |
+
"input_features": {
|
| 87 |
+
"observation.state": {
|
| 88 |
+
"type": "STATE",
|
| 89 |
+
"shape": [
|
| 90 |
+
14
|
| 91 |
+
]
|
| 92 |
+
},
|
| 93 |
+
"observation.images.head_cam": {
|
| 94 |
+
"type": "VISUAL",
|
| 95 |
+
"shape": [
|
| 96 |
+
3,
|
| 97 |
+
480,
|
| 98 |
+
640
|
| 99 |
+
]
|
| 100 |
+
},
|
| 101 |
+
"observation.images.left_wrist": {
|
| 102 |
+
"type": "VISUAL",
|
| 103 |
+
"shape": [
|
| 104 |
+
3,
|
| 105 |
+
480,
|
| 106 |
+
640
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"output_features": {
|
| 111 |
+
"action": {
|
| 112 |
+
"type": "ACTION",
|
| 113 |
+
"shape": [
|
| 114 |
+
14
|
| 115 |
+
]
|
| 116 |
+
}
|
| 117 |
+
},
|
| 118 |
+
"device": "cuda",
|
| 119 |
+
"use_amp": true,
|
| 120 |
+
"use_peft": false,
|
| 121 |
+
"push_to_hub": true,
|
| 122 |
+
"repo_id": "Servo7/act-sim-pick-cube-r1",
|
| 123 |
+
"private": null,
|
| 124 |
+
"tags": null,
|
| 125 |
+
"license": null,
|
| 126 |
+
"pretrained_path": null,
|
| 127 |
+
"chunk_size": 100,
|
| 128 |
+
"n_action_steps": 100,
|
| 129 |
+
"normalization_mapping": {
|
| 130 |
+
"VISUAL": "MEAN_STD",
|
| 131 |
+
"STATE": "MEAN_STD",
|
| 132 |
+
"ACTION": "MEAN_STD"
|
| 133 |
+
},
|
| 134 |
+
"vision_backbone": "resnet18",
|
| 135 |
+
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
| 136 |
+
"replace_final_stride_with_dilation": false,
|
| 137 |
+
"pre_norm": false,
|
| 138 |
+
"dim_model": 512,
|
| 139 |
+
"n_heads": 8,
|
| 140 |
+
"dim_feedforward": 3200,
|
| 141 |
+
"feedforward_activation": "relu",
|
| 142 |
+
"n_encoder_layers": 4,
|
| 143 |
+
"n_decoder_layers": 1,
|
| 144 |
+
"use_vae": true,
|
| 145 |
+
"latent_dim": 32,
|
| 146 |
+
"n_vae_encoder_layers": 4,
|
| 147 |
+
"temporal_ensemble_coeff": null,
|
| 148 |
+
"dropout": 0.1,
|
| 149 |
+
"kl_weight": 10.0,
|
| 150 |
+
"optimizer_lr": 1e-05,
|
| 151 |
+
"optimizer_weight_decay": 0.0001,
|
| 152 |
+
"optimizer_lr_backbone": 1e-05
|
| 153 |
+
},
|
| 154 |
+
"output_dir": "outputs/train/2026-02-17/15-26-49_act",
|
| 155 |
+
"job_name": "act",
|
| 156 |
+
"resume": false,
|
| 157 |
+
"seed": 1000,
|
| 158 |
+
"num_workers": 4,
|
| 159 |
+
"batch_size": 8,
|
| 160 |
+
"steps": 10000,
|
| 161 |
+
"eval_freq": 20000,
|
| 162 |
+
"log_freq": 100,
|
| 163 |
+
"tolerance_s": 0.0001,
|
| 164 |
+
"save_checkpoint": true,
|
| 165 |
+
"save_freq": 20000,
|
| 166 |
+
"use_policy_training_preset": true,
|
| 167 |
+
"optimizer": {
|
| 168 |
+
"type": "adamw",
|
| 169 |
+
"lr": 1e-05,
|
| 170 |
+
"weight_decay": 0.0001,
|
| 171 |
+
"grad_clip_norm": 10.0,
|
| 172 |
+
"betas": [
|
| 173 |
+
0.9,
|
| 174 |
+
0.999
|
| 175 |
+
],
|
| 176 |
+
"eps": 1e-08
|
| 177 |
+
},
|
| 178 |
+
"scheduler": null,
|
| 179 |
+
"eval": {
|
| 180 |
+
"n_episodes": 50,
|
| 181 |
+
"batch_size": 50,
|
| 182 |
+
"use_async_envs": false
|
| 183 |
+
},
|
| 184 |
+
"wandb": {
|
| 185 |
+
"enable": false,
|
| 186 |
+
"disable_artifact": false,
|
| 187 |
+
"project": "lerobot",
|
| 188 |
+
"entity": null,
|
| 189 |
+
"notes": null,
|
| 190 |
+
"run_id": null,
|
| 191 |
+
"mode": null
|
| 192 |
+
},
|
| 193 |
+
"peft": null,
|
| 194 |
+
"use_rabc": false,
|
| 195 |
+
"rabc_progress_path": null,
|
| 196 |
+
"rabc_kappa": 0.01,
|
| 197 |
+
"rabc_epsilon": 1e-06,
|
| 198 |
+
"rabc_head_mode": "sparse",
|
| 199 |
+
"rename_map": {},
|
| 200 |
+
"checkpoint_path": null
|
| 201 |
+
}
|
video0.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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ADDED
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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video10.mp4
ADDED
|
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ADDED
|
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ADDED
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ADDED
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ADDED
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ADDED
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ADDED
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