Remove the TabletopSim dataset config and statistics

Fixes https://github.com/microsoft/rhobotics/issues/53 for this checkpoint.

Removes `data_config.json` and `stats.json`, which were made for a TabletopSim dataset, and drops them from `manifest.json`. Pretraining normalized each robot's data with its own statistics, so no single set of statistics fits this checkpoint.

Fine-tuning is unaffected. Evaluating or serving `rho-base` directly now needs a dataset configuration for the target robot; https://github.com/microsoft/rhobotics/pull/77 makes loading without one fail with a clear message.

data_config.json

@@ -1,171 +0,0 @@
-{
-  "batch_size": 192,
-  "num_workers": 8,
-  "shuffle_buffer_size": 1000,
-  "normalization_mapping": {
-    "ACTION": "ACTIONCHUNK_QUANTILE",
-    "ENV": "QUANTILE",
-    "STATE": "QUANTILE",
-    "VISUAL": "IDENTITY"
-  },
-  "features": {
-    "action": {
-      "type": "ACTION",
-      "shape": "(20,)"
-    },
-    "observation.image.0": {
-      "type": "VISUAL",
-      "shape": "(3, 224, 224)"
-    },
-    "observation.image.1": {
-      "type": "VISUAL",
-      "shape": "(3, 224, 224)"
-    },
-    "observation.image.2": {
-      "type": "VISUAL",
-      "shape": "(3, 224, 224)"
-    },
-    "observation.state": {
-      "type": "STATE",
-      "shape": "(20,)"
-    }
-  },
-  "clip_values": {
-    "ENV": [
-      -1.05,
-      1.05
-    ],
-    "STATE": [
-      -1.05,
-      1.05
-    ]
-  },
-  "chunk_size": null,
-  "action_time_horizon_s": null,
-  "min_action_chunk_size": 8,
-  "observation_mapping": {
-    "action.ee_6d_pos": "action",
-    "observation.ee_6d_pos": "observation.state",
-    "observation.images.agentview_image": "observation.image.0",
-    "observation.images.left_wrist_image": "observation.image.1",
-    "observation.images.right_wrist_image": "observation.image.2",
-    "observation.language_instruction": "task"
-  },
-  "observation_whitelist": null,
-  "observation_blacklist": null,
-  "transform_mapping": {
-    "action": [
-      {
-        "type": "convert_to_6d_actions",
-        "action_key": "action",
-        "action_type": "EE_6D_POS",
-        "input_type": "Dict",
-        "post_norm": false
-      },
-      {
-        "type": "delta_actions",
-        "state_key": "observation.state",
-        "action_key": "action",
-        "action_type": "EE_6D_POS",
-        "input_type": "Dict",
-        "post_norm": false,
-        "relative_to_state": true,
-        "use_absolute_grippers": false
-      }
-    ],
-    "observation.image.0": [
-      {
-        "type": "resize_with_padding",
-        "height": 224,
-        "width": 224,
-        "mode": "bilinear",
-        "align_corners": false,
-        "input_type": "Tensor"
-      },
-      {
-        "type": "color_jitter",
-        "brightness": 0.2,
-        "contrast": [
-          0.8,
-          1.2
-        ],
-        "saturation": [
-          0.8,
-          1.2
-        ],
-        "hue": 0.05,
-        "input_type": "Tensor"
-      }
-    ],
-    "observation.image.1": [
-      {
-        "type": "resize_with_padding",
-        "height": 224,
-        "width": 224,
-        "mode": "bilinear",
-        "align_corners": false,
-        "input_type": "Tensor"
-      },
-      {
-        "type": "color_jitter",
-        "brightness": 0.2,
-        "contrast": [
-          0.8,
-          1.2
-        ],
-        "saturation": [
-          0.8,
-          1.2
-        ],
-        "hue": 0.05,
-        "input_type": "Tensor"
-      }
-    ],
-    "observation.image.2": [
-      {
-        "type": "resize_with_padding",
-        "height": 224,
-        "width": 224,
-        "mode": "bilinear",
-        "align_corners": false,
-        "input_type": "Tensor"
-      },
-      {
-        "type": "color_jitter",
-        "brightness": 0.2,
-        "contrast": [
-          0.8,
-          1.2
-        ],
-        "saturation": [
-          0.8,
-          1.2
-        ],
-        "hue": 0.05,
-        "input_type": "Tensor"
-      }
-    ],
-    "observation.state": [
-      {
-        "type": "convert_to_6d_actions",
-        "action_key": "observation.state",
-        "action_type": "EE_6D_POS",
-        "input_type": "Dict",
-        "post_norm": false
-      }
-    ]
-  },
-  "language_instruction": null,
-  "training_mode": "ROBOT_FLOWMATCH",
-  "action_type": "EE_6D_POS",
-  "serialize_stats": true,
-  "video_decoder_cache_size": null,
-  "repo_id": "tabletopsim_combined",
-  "video_root_dir": null,
-  "streaming": false,
-  "tolerance_s": 0.1,
-  "use_imagenet_stats": false,
-  "split_name": "train",
-  "prefetch_factor": 2,
-  "max_episodes": null
-}

manifest.json

@@ -9,8 +9,8 @@
   "artifacts": {
     "policy": "policy.json",
     "features": "features.json",
-    "data_config": "data_config.json",
-    "stats": "stats.json",
+    "data_config": null,
+    "stats": null,
     "training_state": null
   },
   "save_timings_seconds": {