Upload folder using huggingface_hub
Browse files- config.json +112 -0
- model.safetensors +3 -0
- policy_postprocessor.json +32 -0
- policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- policy_preprocessor.json +88 -0
- policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
- train_config.json +246 -0
config.json
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{
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"type": "dit",
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"n_obs_steps": 2,
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"input_features": {
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"observation.images.primary": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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]
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},
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"observation.images.wrist": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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]
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},
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"observation.state.cartesian": {
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"type": "STATE",
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"shape": [
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]
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},
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"observation.state.gripper": {
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"type": "STATE",
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"shape": [
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]
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},
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"observation.state.joints": {
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"type": "STATE",
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"shape": [
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]
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},
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"observation.state.target": {
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"type": "STATE",
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"shape": [
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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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}
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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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}
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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": "continuallearning/dit_fft_pretraining_v1_seed1000",
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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path": null,
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"horizon": 16,
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"n_action_steps": 8,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MIN_MAX",
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"ACTION": "MIN_MAX"
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},
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"drop_n_last_frames": 7,
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"tokenizer_max_length": 48,
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"language_model_name": "openai/clip-vit-base-patch32",
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"freeze_language_pretrained": true,
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"vit_name": "facebook/dinov2-base",
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"frequency_embedding_dim": 256,
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"hidden_dim": 512,
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"num_blocks": 6,
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"num_heads": 16,
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"dropout": 0.1,
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"dim_feedforward": 4096,
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"activation": "gelu",
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"noise_type": "flow_matching",
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"training_noise_sampling": "uniform",
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"num_train_timesteps": 100,
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"beta_schedule": "squaredcos_cap_v2",
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"beta_start": 0.0001,
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"beta_end": 0.02,
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"prediction_type": "epsilon",
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"set_alpha_to_one": true,
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"steps_offset": 0,
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"clip_sample": true,
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"clip_sample_range": 1.0,
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"use_encoder": false,
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"n_encoder_layers": 6,
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| 101 |
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"num_inference_steps": 100,
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"do_mask_loss_for_padding": false,
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"optimizer_lr": 0.0001,
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"optimizer_betas": [
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0.95,
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0.999
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 1e-06,
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"scheduler_name": "cosine",
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"scheduler_warmup_steps": 500
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}
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model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:17138a383e9cfeba7d163730aed269de11cd1b852eee1323ef6672c0658025e5
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size 774622540
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policy_postprocessor.json
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{
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"name": "policy_postprocessor",
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"steps": [
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{
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"registry_name": "unnormalizer_processor",
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"config": {
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"eps": 1e-08,
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"features": {
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"action": {
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"type": "ACTION",
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"shape": [
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}
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},
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"norm_map": {
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"VISUAL": "MEAN_STD",
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"STATE": "MIN_MAX",
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| 19 |
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"ACTION": "MIN_MAX"
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| 20 |
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}
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| 21 |
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},
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| 22 |
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
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| 23 |
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},
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| 24 |
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{
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| 25 |
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"registry_name": "device_processor",
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| 26 |
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"config": {
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| 27 |
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"device": "cpu",
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| 28 |
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"float_dtype": null
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| 29 |
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}
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| 30 |
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}
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| 31 |
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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:d445019adcddba13beace30e04f099a49c9ea9a90f500b2717d0629bdf0a767a
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size 6060
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policy_preprocessor.json
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{
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| 2 |
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"name": "policy_preprocessor",
|
| 3 |
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"steps": [
|
| 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": "device_processor",
|
| 16 |
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"config": {
|
| 17 |
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"device": "cuda",
|
| 18 |
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"float_dtype": null
|
| 19 |
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}
|
| 20 |
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},
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| 21 |
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{
|
| 22 |
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"registry_name": "normalizer_processor",
|
| 23 |
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"config": {
|
| 24 |
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"eps": 1e-08,
|
| 25 |
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"features": {
|
| 26 |
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"observation.images.primary": {
|
| 27 |
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"type": "VISUAL",
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| 28 |
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"shape": [
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| 29 |
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3,
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256,
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| 31 |
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256
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| 32 |
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]
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| 33 |
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},
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| 34 |
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"observation.images.wrist": {
|
| 35 |
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"type": "VISUAL",
|
| 36 |
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"shape": [
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| 37 |
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3,
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| 38 |
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256,
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| 39 |
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256
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]
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| 41 |
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},
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| 42 |
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"observation.state.cartesian": {
|
| 43 |
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"type": "STATE",
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| 44 |
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"shape": [
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| 45 |
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6
|
| 46 |
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]
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| 47 |
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},
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| 48 |
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"observation.state.gripper": {
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| 49 |
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"type": "STATE",
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| 50 |
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"shape": [
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| 51 |
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1
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| 52 |
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]
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| 53 |
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},
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| 54 |
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"observation.state.joints": {
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| 55 |
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"type": "STATE",
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| 56 |
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"shape": [
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| 57 |
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7
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| 58 |
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]
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| 59 |
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},
|
| 60 |
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"observation.state.target": {
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| 61 |
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"type": "STATE",
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| 62 |
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"shape": [
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| 63 |
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6
|
| 64 |
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]
|
| 65 |
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},
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| 66 |
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"observation.state": {
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| 67 |
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"type": "STATE",
|
| 68 |
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"shape": [
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| 69 |
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20
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| 70 |
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]
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| 71 |
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},
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| 72 |
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"action": {
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| 73 |
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"type": "ACTION",
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| 74 |
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"shape": [
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| 75 |
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7
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]
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| 77 |
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}
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| 78 |
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},
|
| 79 |
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"norm_map": {
|
| 80 |
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"VISUAL": "MEAN_STD",
|
| 81 |
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"STATE": "MIN_MAX",
|
| 82 |
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"ACTION": "MIN_MAX"
|
| 83 |
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}
|
| 84 |
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},
|
| 85 |
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"state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
|
| 86 |
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}
|
| 87 |
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]
|
| 88 |
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}
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policy_preprocessor_step_3_normalizer_processor.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:d445019adcddba13beace30e04f099a49c9ea9a90f500b2717d0629bdf0a767a
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size 6060
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train_config.json
ADDED
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