Upload folder using huggingface_hub
Browse files- config.json +126 -0
- model.safetensors +3 -0
- policy_postprocessor.json +32 -0
- policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- policy_preprocessor.json +66 -0
- policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
- train_config.json +258 -0
config.json
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{
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"type": "gaze_flow_matching",
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"n_obs_steps": 1,
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"input_features": {
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"observation.images.right": {
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"type": "VISUAL",
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"shape": [
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240,
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320,
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]
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},
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"observation.images.left": {
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"type": "VISUAL",
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"shape": [
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240,
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320,
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]
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},
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"observation.images.user": {
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"type": "VISUAL",
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"shape": [
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240,
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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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26
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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": "fecasado/gfm-cubes-22b",
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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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"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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"gaze_feature_dim": 3,
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"gaze_state_indices": [
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-3,
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-2,
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-1
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],
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"gaze_temporal_window": 1,
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"vision_backbone": "resnet18",
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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"vit_token_size": 16,
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"vit_foveation_strides": [
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1,
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2,
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6
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],
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"vit_foveation_grid_sizes": [
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2,
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3,
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3
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],
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"vit_model_size": "base",
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"vit_pretrained_repo_id": "",
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"vit_freeze": false,
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"vit_backbone": "resnet18",
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"gaze_cross_camera": true,
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"gaze_cross_camera_method_train": "roma",
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"gaze_cross_camera_method_inference": "roma",
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"gaze_cross_camera_match_every": 5,
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"gaze_cross_camera_timeout": 0.05,
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"gaze_cross_camera_cache": null,
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"gaze_cross_camera_smoothing": 0.9,
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"gaze_heatmap": true,
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"gaze_heatmap_sigma": 60.0,
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"gaze_heatmap_decay": 1.0,
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"gaze_camera": "user",
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"obs_step_size": 1,
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"n_action_steps": 2,
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"horizon": 16,
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| 90 |
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"n_sampling_steps": 8,
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| 91 |
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"use_temporal_ensemble": true,
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"temporal_ensemble_coeff": -0.01,
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"dim_model": 512,
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| 94 |
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"n_heads": 8,
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"mlp_ratio": 4.0,
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"dropout": 0.1,
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"dit_n_layers": 8,
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"dit_time_dim": 256,
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"pool_n_queries": 16,
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"pool_n_layers": 4,
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"use_gaze": true,
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"use_gaze_as_action": false,
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"gaze_model_repo_id": "",
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"gaze_noise": 0.01,
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"image_norm_mode": "mean_std",
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"state_norm_mode": "min_max",
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"action_norm_mode": "min_max",
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"image_to_gaze_key": {},
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"optimizer_lr": 0.0001,
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"optimizer_lr_backbone": 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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| 118 |
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"scheduler_warmup_steps": 500,
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"use_ema": true,
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"ema_decay": 0.99,
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"input_shape": [
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240,
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],
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"visualize": true
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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:f73c7eb1e9ba496baa4bb48bfef1e5f22f3823d9dd92fdbfbca8adb02ef401c7
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size 300937880
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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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| 4 |
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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": {
|
| 7 |
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"eps": 1e-08,
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| 8 |
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"features": {
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| 9 |
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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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},
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| 16 |
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"norm_map": {
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| 17 |
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"VISUAL": "MEAN_STD",
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| 18 |
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"STATE": "MEAN_STD",
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| 19 |
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"ACTION": "MEAN_STD"
|
| 20 |
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}
|
| 21 |
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},
|
| 22 |
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
|
| 23 |
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},
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| 24 |
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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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| 32 |
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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 sha256:29917854ea34c3530f4ca96405045466f660f0be37113ec5df14306a6d20f861
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size 12236
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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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},
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| 10 |
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{
|
| 11 |
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"registry_name": "to_batch_processor",
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| 12 |
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"config": {}
|
| 13 |
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},
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| 14 |
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{
|
| 15 |
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"registry_name": "device_processor",
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| 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.right": {
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| 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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240,
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320,
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3
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]
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},
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| 34 |
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"observation.images.left": {
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| 35 |
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"type": "VISUAL",
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| 36 |
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"shape": [
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| 37 |
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240,
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320,
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| 39 |
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3
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]
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| 41 |
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},
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| 42 |
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"observation.images.user": {
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| 43 |
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"type": "VISUAL",
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| 44 |
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"shape": [
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| 45 |
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240,
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| 46 |
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320,
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| 47 |
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]
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| 49 |
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},
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| 50 |
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"action": {
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| 51 |
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"type": "ACTION",
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| 52 |
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"shape": [
|
| 53 |
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26
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]
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| 55 |
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}
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| 56 |
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},
|
| 57 |
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"norm_map": {
|
| 58 |
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"VISUAL": "MEAN_STD",
|
| 59 |
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"STATE": "MEAN_STD",
|
| 60 |
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"ACTION": "MEAN_STD"
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
|
| 64 |
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}
|
| 65 |
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]
|
| 66 |
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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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| 2 |
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oid sha256:267e06ab628f0ed8105b8916783b60d88140a90afa1598e6c785ee798d000a3e
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size 12244
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train_config.json
ADDED
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