Upload folder using huggingface_hub
Browse files- config.json +101 -0
- model.safetensors +3 -0
- policy_postprocessor.json +32 -0
- policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- policy_preprocessor.json +93 -0
- policy_preprocessor_step_2_normalizer_processor.safetensors +3 -0
- train_config.json +237 -0
config.json
ADDED
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@@ -0,0 +1,101 @@
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{
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"type": "pi05",
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"n_obs_steps": 1,
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"input_features": {
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"observation.images.context": {
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"type": "VISUAL",
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"shape": [
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3,
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360,
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640
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]
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},
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"observation.images.right_wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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360,
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640
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]
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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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3,
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360,
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640
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]
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},
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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.cartesian_state": {
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"type": "STATE",
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"shape": [
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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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30
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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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"use_peft": false,
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"push_to_hub": true,
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"repo_id": "Zasha01/towel_policy_pi",
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"private": null,
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"tags": null,
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| 57 |
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"license": null,
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"pretrained_path": "lerobot/pi05_base",
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"paligemma_variant": "gemma_2b",
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"action_expert_variant": "gemma_300m",
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"dtype": "bfloat16",
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"chunk_size": 50,
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"n_action_steps": 50,
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"max_state_dim": 32,
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"max_action_dim": 32,
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"num_inference_steps": 10,
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"time_sampling_beta_alpha": 1.5,
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"time_sampling_beta_beta": 1.0,
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"time_sampling_scale": 0.999,
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"time_sampling_offset": 0.001,
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"min_period": 0.004,
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"max_period": 4.0,
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"rtc_config": null,
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"image_resolution": [
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224,
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224
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],
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"empty_cameras": 0,
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"tokenizer_max_length": 200,
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "QUANTILES",
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"ACTION": "QUANTILES"
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},
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"gradient_checkpointing": true,
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"compile_model": true,
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"compile_mode": "max-autotune",
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"freeze_vision_encoder": false,
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"train_expert_only": false,
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"optimizer_lr": 2.5e-05,
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"optimizer_betas": [
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0.9,
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0.95
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 0.01,
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"optimizer_grad_clip_norm": 1.0,
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"scheduler_warmup_steps": 1000,
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"scheduler_decay_steps": 30000,
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"scheduler_decay_lr": 2.5e-06
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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 sha256:85ab9026d93fbfe6e712706f80203af6592ca96ef1e8367b9eb670493fd462bf
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size 7473096344
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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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"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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}
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},
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"norm_map": {
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"VISUAL": "IDENTITY",
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"STATE": "QUANTILES",
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"ACTION": "QUANTILES"
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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:c725882288398a13c3f8cfe56b1a4ba8120ae33ea0974fdc14f5e0dcc870c299
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size 14492
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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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{
|
| 5 |
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"registry_name": "rename_observations_processor",
|
| 6 |
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"config": {
|
| 7 |
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"rename_map": {}
|
| 8 |
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}
|
| 9 |
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},
|
| 10 |
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{
|
| 11 |
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"registry_name": "to_batch_processor",
|
| 12 |
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"config": {}
|
| 13 |
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},
|
| 14 |
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{
|
| 15 |
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"registry_name": "normalizer_processor",
|
| 16 |
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"config": {
|
| 17 |
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"eps": 1e-08,
|
| 18 |
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"features": {
|
| 19 |
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"observation.images.context": {
|
| 20 |
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"type": "VISUAL",
|
| 21 |
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"shape": [
|
| 22 |
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3,
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360,
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| 24 |
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640
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]
|
| 26 |
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},
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| 27 |
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"observation.images.right_wrist": {
|
| 28 |
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"type": "VISUAL",
|
| 29 |
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"shape": [
|
| 30 |
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3,
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| 31 |
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360,
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| 32 |
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640
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| 33 |
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]
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| 34 |
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},
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| 35 |
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"observation.images.left_wrist": {
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| 36 |
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"type": "VISUAL",
|
| 37 |
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"shape": [
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| 38 |
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3,
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| 39 |
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360,
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| 40 |
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640
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| 41 |
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]
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| 42 |
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},
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| 43 |
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"observation.state": {
|
| 44 |
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"type": "STATE",
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| 45 |
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"shape": [
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| 46 |
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14
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]
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| 48 |
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},
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| 49 |
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"observation.cartesian_state": {
|
| 50 |
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"type": "STATE",
|
| 51 |
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"shape": [
|
| 52 |
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14
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| 53 |
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]
|
| 54 |
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},
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| 55 |
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"action": {
|
| 56 |
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"type": "ACTION",
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| 57 |
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"shape": [
|
| 58 |
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30
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| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"norm_map": {
|
| 63 |
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"VISUAL": "IDENTITY",
|
| 64 |
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"STATE": "QUANTILES",
|
| 65 |
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"ACTION": "QUANTILES"
|
| 66 |
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}
|
| 67 |
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},
|
| 68 |
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"state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
|
| 69 |
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},
|
| 70 |
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{
|
| 71 |
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"registry_name": "pi05_prepare_state_tokenizer_processor_step",
|
| 72 |
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"config": {}
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"registry_name": "tokenizer_processor",
|
| 76 |
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"config": {
|
| 77 |
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"max_length": 200,
|
| 78 |
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"task_key": "task",
|
| 79 |
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"padding_side": "right",
|
| 80 |
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"padding": "max_length",
|
| 81 |
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"truncation": true,
|
| 82 |
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"tokenizer_name": "google/paligemma-3b-pt-224"
|
| 83 |
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}
|
| 84 |
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},
|
| 85 |
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{
|
| 86 |
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"registry_name": "device_processor",
|
| 87 |
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"config": {
|
| 88 |
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"device": "cuda",
|
| 89 |
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"float_dtype": null
|
| 90 |
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}
|
| 91 |
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}
|
| 92 |
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]
|
| 93 |
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}
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policy_preprocessor_step_2_normalizer_processor.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:c725882288398a13c3f8cfe56b1a4ba8120ae33ea0974fdc14f5e0dcc870c299
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| 3 |
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size 14492
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train_config.json
ADDED
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