test-4-checkpoint-2000
Browse files- test-4-checkpoint-2000/config.json +133 -0
- test-4-checkpoint-2000/dataset_statistics.json +253 -0
- test-4-checkpoint-2000/model.safetensors +3 -0
- test-4-checkpoint-2000/optimizer.pt +3 -0
- test-4-checkpoint-2000/rng_state_0.pth +3 -0
- test-4-checkpoint-2000/rng_state_1.pth +3 -0
- test-4-checkpoint-2000/rng_state_2.pth +3 -0
- test-4-checkpoint-2000/rng_state_3.pth +3 -0
- test-4-checkpoint-2000/rng_state_4.pth +3 -0
- test-4-checkpoint-2000/rng_state_5.pth +3 -0
- test-4-checkpoint-2000/rng_state_6.pth +3 -0
- test-4-checkpoint-2000/rng_state_7.pth +3 -0
- test-4-checkpoint-2000/scheduler.pt +3 -0
- test-4-checkpoint-2000/trainer_state.json +173 -0
test-4-checkpoint-2000/config.json
ADDED
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@@ -0,0 +1,133 @@
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{
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"batch_size": 64,
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"buffer_size": 64,
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| 4 |
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"from_pretrained": "oxe-g2-checkpoint-300000",
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"frozen_keys": [
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"*hf_model*"
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],
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"model": {
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"heads": {
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"action": {
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"args": [],
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"kwargs": {
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"action_dim": 7,
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| 14 |
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"action_horizon": 4,
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| 15 |
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"dropout_rate": 0.0,
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"n_diffusion_samples": 1,
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| 17 |
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"readout_key": "readout_action",
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| 18 |
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"token_embedding_size": 768,
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| 19 |
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"use_map": false
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},
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"module": "octo.model.components.action_heads",
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"name": "DiffusionActionHead"
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}
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},
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"max_horizon": 10,
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"observation_tokenizers": {
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"primary": {
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"args": [],
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"kwargs": {
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"encoder": {
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"args": [],
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"kwargs": {
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"in_features": 6
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},
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"module": "octo.model.components.vit_encoders",
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"name": "SmallStem16"
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},
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"obs_stack_keys": [
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"image_primary"
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],
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"task_stack_keys": [
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"image_primary"
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]
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},
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"module": "octo.model.components.tokenizers",
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| 46 |
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"name": "ImageTokenizer"
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| 47 |
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}
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| 48 |
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},
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"readouts": {
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| 50 |
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"action": 1
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},
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| 52 |
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"repeat_task_tokens": true,
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| 53 |
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"task_tokenizers": {
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| 54 |
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"language": {
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| 55 |
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"args": [],
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| 56 |
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"kwargs": {
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| 57 |
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"encoder": "t5-base",
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| 58 |
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"finetune_encoder": false
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| 59 |
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},
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| 60 |
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"module": "octo.model.components.tokenizers",
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| 61 |
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"name": "LanguageTokenizer"
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| 62 |
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}
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| 63 |
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},
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| 64 |
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"token_embedding_size": 768,
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| 65 |
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"transformer_kwargs": {
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| 66 |
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"add_position_embedding": false,
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| 67 |
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"attention_dropout_rate": 0.0,
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| 68 |
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"dropout_rate": 0.0,
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| 69 |
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"mlp_dim": 3072,
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| 70 |
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"num_attention_heads": 12,
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| 71 |
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"num_layers": 12
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| 72 |
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},
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| 73 |
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"use_correct_attention": true
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| 74 |
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},
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| 75 |
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"normalize_method": "sign",
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| 76 |
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"obs_token_nums": {
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| 77 |
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"primary": 256
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| 78 |
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},
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| 79 |
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"sampler_num_samples": 2560000,
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| 80 |
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"seed": 2,
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| 81 |
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"subsample_length": 99999,
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| 82 |
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"text_processor": {
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| 83 |
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"args": [],
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| 84 |
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"kwargs": {
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| 85 |
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"encode_with_model": false,
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| 86 |
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"tokenizer_kwargs": {
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| 87 |
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"max_length": 16,
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| 88 |
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"padding": "max_length",
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| 89 |
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"return_tensors": "np",
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| 90 |
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"truncation": true
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| 91 |
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},
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| 92 |
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"tokenizer_name": "t5-base"
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| 93 |
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},
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| 94 |
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"module": "octo.components.text_processing",
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| 95 |
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"name": "HFTokenizer"
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| 96 |
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},
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"training_arguments": {
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| 98 |
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"bf16": true,
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| 99 |
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"dataloader_pin_memory": true,
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| 100 |
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"ddp_find_unused_parameters": true,
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| 101 |
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"eval_steps": 5000,
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| 102 |
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"gradient_accumulation_steps": 4,
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| 103 |
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"learning_rate": 5e-05,
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| 104 |
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"logging_nan_inf_filter": false,
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| 105 |
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"logging_steps": 100,
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| 106 |
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"lr_scheduler_kwargs": {
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| 107 |
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"decay_type": "cosine",
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| 108 |
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"min_lr_ratio": 0.05,
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| 109 |
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"num_decay_steps": 298000
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| 110 |
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},
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| 111 |
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"lr_scheduler_type": "constant",
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| 112 |
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"max_grad_norm": 1.0,
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| 113 |
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"max_steps": 300000,
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| 114 |
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"optim": "adamw_torch_fused",
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| 115 |
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"per_device_eval_batch_size": 1,
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| 116 |
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"per_device_train_batch_size": 1,
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| 117 |
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"report_to": "wandb",
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| 118 |
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"save_safetensors": true,
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| 119 |
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"save_steps": 500,
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| 120 |
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"torch_compile": true,
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| 121 |
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"warmup_steps": 2000,
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| 122 |
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"weight_decay": 0.1
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| 123 |
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},
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| 124 |
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"training_keys": [
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| 125 |
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"*action*",
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| 126 |
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"*task_projections*",
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| 127 |
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"*obs_projections*",
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| 128 |
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"*readout_embeddings*",
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| 129 |
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"*task_pos_embeddings*",
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| 130 |
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"*obs_pos_embeddings*",
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| 131 |
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"*observation_tokenizers*"
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| 132 |
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]
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| 133 |
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}
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test-4-checkpoint-2000/dataset_statistics.json
ADDED
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@@ -0,0 +1,253 @@
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| 1 |
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[
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| 2 |
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{
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| 3 |
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"observation.state": {
|
| 4 |
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"min": [
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| 5 |
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| 10 |
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| 11 |
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| 13 |
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"max": [
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],
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| 22 |
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"mean": [
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],
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"std": [
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"count": [
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"task_index": {
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"max": [
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],
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"mean": [
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],
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"std": [
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],
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"count": [
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| 60 |
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},
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| 61 |
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"episode_index": {
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"min": [
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| 65 |
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],
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"mean": [
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],
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"std": [
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"count": [
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]
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| 77 |
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},
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| 78 |
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"observation.images.main_camera": {
|
| 79 |
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"min": [
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| 80 |
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[
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| 81 |
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