Upload V8 absolute-action portable load sidecars
Browse files- NewModel/V8Full/classify_blocks/StateAbsEE/sidecars/bspline/encoder.json +1 -0
- NewModel/V8Full/classify_blocks/StateAbsEE/sidecars/bspline/normalization.json +433 -0
- NewModel/V8Full/classify_blocks/StateAbsEE/sidecars/raw/encoder.json +1 -0
- NewModel/V8Full/classify_blocks/StateAbsEE/sidecars/raw/normalization.json +86 -0
- NewModel/V8Full/classify_blocks/StateAbsJoint/sidecars/bspline/encoder.json +1 -0
- NewModel/V8Full/classify_blocks/StateAbsJoint/sidecars/bspline/normalization.json +395 -0
- NewModel/V8Full/classify_blocks/StateAbsJoint/sidecars/raw/encoder.json +1 -0
- NewModel/V8Full/classify_blocks/StateAbsJoint/sidecars/raw/normalization.json +82 -0
NewModel/V8Full/classify_blocks/StateAbsEE/sidecars/bspline/encoder.json
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{"calibration": {"high": [[1.0000538636354384, 1.0000753091839814, 1.0004293409497376, 1.0185716449454292, 1.0276605318077152, 1.014718445613641, 1.000260649989457, 1.0037532822742075], [1.0119333021262962, 1.012840756470357, 1.0415100875710666, 3.6503174492242567, 3.3903807430200326, 2.3385147057343305, 3.0142989241301485, 1.3504864957892986], [1.0155493595782252, 1.0203983675781616, 1.0468543633094525, 2.64041144481206, 4.006825789161295, 2.6413868458289733, 3.2342851677139954, 1.615787823784976], [1.01101656969419, 1.0146957766951612, 1.0451840209382601, 2.16613359371775, 3.1072097816783963, 3.028741395895265, 2.5438924605891384, 1.4597897430507083], [1.009848634108661, 1.0131930787165575, 1.0405877123791027, 2.634336498881476, 3.0387816994071346, 3.008901718939858, 2.361399030506922, 1.4517843322151711], [1.0095195737876133, 1.0127469726612819, 1.0371219583960791, 2.5134906786464923, 3.0471768896581266, 2.9918699184795896, 2.3337695649050327, 1.468511186215179], [1.0094367273715903, 1.0126326681668953, 1.0334040242756064, 2.4640600040667646, 3.0708983499450273, 2.98635892656714, 2.344316368705892, 1.4735606455848205], [1.0094520071133384, 1.0125489299163946, 1.0331942224461845, 2.4492471460249154, 3.0869937044350464, 2.98479372601174, 2.3411472404347755, 1.4749936299526818], [1.0093764474667863, 1.0124676478305021, 1.0337854196497889, 2.447652494289676, 3.0914638996256714, 2.9843464596516034, 2.3390987674753148, 1.4754552925041846], [1.0091424955087922, 1.012627635949889, 1.0337350901160076, 2.4263121507250762, 3.0922384219322474, 2.984402514211604, 2.3481650220636756, 1.4756138697585133], [1.0091598027920998, 1.012534720306053, 1.0338461038773181, 2.424891862206157, 3.0907689339011286, 2.984693394199047, 2.34941672893538, 1.476115106462898], [1.0096276844436247, 1.0129880005678769, 1.0337006625565903, 2.4280349360981504, 3.0784067368471413, 2.986441417239104, 2.353206206052989, 1.4772109984038773], [1.0094560346482617, 1.011714922794979, 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"chunk_size": 30, "degree": 3, "end_padding": true, "frequency_hz": 30.0, "implementation_version": "uniform_left_direct_fit_v1", "mode": "uniform_left", "num_basis": 18, "regularization": 0.0001, "span_length_steps": 2, "vocab_size": 256}, "fixed_fields": "knots, span length, degree, sample period, phase", "predicted_fields": "18x8 control points or ordered bins", "rtc_history_steps": [2, 4, 6, 8, 10], "tokenizer_id": "c6c5f68d9c6f8588", "type": "UniformLeftBSplineConfig"}
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NewModel/V8Full/classify_blocks/StateAbsEE/sidecars/bspline/normalization.json
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| 1 |
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{
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"state_mean": [
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| 3 |
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-0.09542162716388702,
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| 4 |
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1.844222903251648,
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| 5 |
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-1.4539237022399902,
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| 6 |
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0.08211576193571091,
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| 7 |
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0.6705809235572815,
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| 8 |
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0.0006913643446750939,
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| 9 |
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0.2961791753768921
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],
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| 11 |
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"state_std": [
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| 12 |
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| 13 |
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| 14 |
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0.5061311721801758,
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| 16 |
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| 18 |
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0.3516697287559509
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| 19 |
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],
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| 20 |
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"action_q01": [
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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],
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| 30 |
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"action_q99": [
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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0.4489791578054435,
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| 423 |
+
"fixed_fields": "knots, span length, degree, sample period, phase",
|
| 424 |
+
"rtc_history_steps": [
|
| 425 |
+
2,
|
| 426 |
+
4,
|
| 427 |
+
6,
|
| 428 |
+
8,
|
| 429 |
+
10
|
| 430 |
+
]
|
| 431 |
+
},
|
| 432 |
+
"encoder_sha256": "b3b9ba942f3d81954cae30e8a45a8ab50f5d7785fb0025645fe1eb62f8fb8f3d"
|
| 433 |
+
}
|
NewModel/V8Full/classify_blocks/StateAbsEE/sidecars/raw/encoder.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"calibration": {"high": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "low": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0]}, "config": {"action_dim": 8, "action_horizon": 30, "vocab_size": 256}, "fixed_fields": "action horizon, sample period, normalization quantiles", "predicted_fields": "30x8 normalized raw actions or ordered bins", "rtc_history_steps": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10], "tokenizer_id": "raw_action_q01_q99_uniform_256_v1", "type": "RawActionSequenceConfig"}
|
NewModel/V8Full/classify_blocks/StateAbsEE/sidecars/raw/normalization.json
ADDED
|
@@ -0,0 +1,86 @@
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|
| 1 |
+
{
|
| 2 |
+
"state_mean": [
|
| 3 |
+
-0.09542162716388702,
|
| 4 |
+
1.844222903251648,
|
| 5 |
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-1.4539237022399902,
|
| 6 |
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0.08211576193571091,
|
| 7 |
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0.6705809235572815,
|
| 8 |
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0.0006913643446750939,
|
| 9 |
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|
| 10 |
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],
|
| 11 |
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"state_std": [
|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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],
|
| 20 |
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"action_q01": [
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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],
|
| 30 |
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"action_q99": [
|
| 31 |
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|
| 32 |
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|
| 33 |
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0.3985350382328034,
|
| 34 |
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0.4489791578054435,
|
| 35 |
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0.9968932247161866,
|
| 36 |
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0.22117607295513153,
|
| 37 |
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|
| 38 |
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0.753000020980835
|
| 39 |
+
],
|
| 40 |
+
"encoder": {
|
| 41 |
+
"type": "RawActionSequenceConfig",
|
| 42 |
+
"config": {
|
| 43 |
+
"action_horizon": 30,
|
| 44 |
+
"action_dim": 8,
|
| 45 |
+
"vocab_size": 256
|
| 46 |
+
},
|
| 47 |
+
"tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
|
| 48 |
+
"calibration": {
|
| 49 |
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"low": [
|
| 50 |
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-1.0,
|
| 51 |
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-1.0,
|
| 52 |
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-1.0,
|
| 53 |
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-1.0,
|
| 54 |
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-1.0,
|
| 55 |
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-1.0,
|
| 56 |
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-1.0,
|
| 57 |
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-1.0
|
| 58 |
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],
|
| 59 |
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"high": [
|
| 60 |
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1.0,
|
| 61 |
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1.0,
|
| 62 |
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1.0,
|
| 63 |
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1.0,
|
| 64 |
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1.0,
|
| 65 |
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1.0,
|
| 66 |
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1.0,
|
| 67 |
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1.0
|
| 68 |
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]
|
| 69 |
+
},
|
| 70 |
+
"predicted_fields": "30x8 normalized raw actions or ordered bins",
|
| 71 |
+
"fixed_fields": "action horizon, sample period, normalization quantiles",
|
| 72 |
+
"rtc_history_steps": [
|
| 73 |
+
1,
|
| 74 |
+
2,
|
| 75 |
+
3,
|
| 76 |
+
4,
|
| 77 |
+
5,
|
| 78 |
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6,
|
| 79 |
+
7,
|
| 80 |
+
8,
|
| 81 |
+
9,
|
| 82 |
+
10
|
| 83 |
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]
|
| 84 |
+
},
|
| 85 |
+
"encoder_sha256": "82c84e65d109b167d38ceef47289cb48b8e20e95defe0d437ec6f2202de89abe"
|
| 86 |
+
}
|
NewModel/V8Full/classify_blocks/StateAbsJoint/sidecars/bspline/encoder.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"calibration": {"high": [[1.0002352564324444, 1.0000887534585186, 0.9999830101996404, 1.0003701718887186, 1.0000959562373055, 1.0000577293646935, 1.0037532822742075], [1.0298672983752042, 1.0157445504653642, 1.0050517753747727, 1.0432923782964636, 1.0133912656694475, 1.0128193140751838, 1.3504864957892986], [1.0347018843811089, 1.0176555723234566, 1.00772516773256, 1.0589007882857986, 1.0185799659126755, 1.0286268810149701, 1.615787823784976], [1.0276673534864453, 1.0124478880106575, 1.0058586986162208, 1.0466667886982435, 1.0146627842457996, 1.0218737462354273, 1.4597897430507083], [1.0254362699265984, 1.011116471675631, 1.005049268654683, 1.0428222609895512, 1.0134746145957376, 1.0240218024659378, 1.4517843322151711], [1.0247895435568426, 1.0107253006139707, 1.004323138986287, 1.0417006406258587, 1.0131406787191743, 1.0266477920839971, 1.468511186215179], [1.024613371393828, 1.0106156860595474, 1.0047048167944965, 1.04139554585361, 1.0129262210967591, 1.0283616327801082, 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|
NewModel/V8Full/classify_blocks/StateAbsJoint/sidecars/bspline/normalization.json
ADDED
|
@@ -0,0 +1,395 @@
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|
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|
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|
| 384 |
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|
| 385 |
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|
| 386 |
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|
| 387 |
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|
| 388 |
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|
| 389 |
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|
| 390 |
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|
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|
| 392 |
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|
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|
| 394 |
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|
| 395 |
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}
|
NewModel/V8Full/classify_blocks/StateAbsJoint/sidecars/raw/encoder.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"calibration": {"high": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "low": [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0]}, "config": {"action_dim": 7, "action_horizon": 30, "vocab_size": 256}, "fixed_fields": "action horizon, sample period, normalization quantiles", "predicted_fields": "30x7 normalized raw actions or ordered bins", "rtc_history_steps": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10], "tokenizer_id": "raw_action_q01_q99_uniform_256_v1", "type": "RawActionSequenceConfig"}
|
NewModel/V8Full/classify_blocks/StateAbsJoint/sidecars/raw/normalization.json
ADDED
|
@@ -0,0 +1,82 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
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|
|
|
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|
|
|
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|
|
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|
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|
|
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|
|
|
|
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|
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|
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|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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"action_q99": [
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|
| 31 |
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|
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|
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|
| 37 |
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],
|
| 38 |
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"encoder": {
|
| 39 |
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"type": "RawActionSequenceConfig",
|
| 40 |
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"config": {
|
| 41 |
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"action_horizon": 30,
|
| 42 |
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"action_dim": 7,
|
| 43 |
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|
| 44 |
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},
|
| 45 |
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"tokenizer_id": "raw_action_q01_q99_uniform_256_v1",
|
| 46 |
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"calibration": {
|
| 47 |
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"low": [
|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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| 54 |
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| 55 |
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|
| 56 |
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"high": [
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|
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|
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|
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|
| 64 |
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]
|
| 65 |
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},
|
| 66 |
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"predicted_fields": "30x7 normalized raw actions or ordered bins",
|
| 67 |
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"fixed_fields": "action horizon, sample period, normalization quantiles",
|
| 68 |
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"rtc_history_steps": [
|
| 69 |
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1,
|
| 70 |
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2,
|
| 71 |
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3,
|
| 72 |
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|
| 73 |
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5,
|
| 74 |
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6,
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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},
|
| 81 |
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"encoder_sha256": "001303ea9a02dbe0b36d787f2d1dbce87bb275ba4c1cff51eb06cdecf62b200e"
|
| 82 |
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}
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