Upload 7 files
Browse files- config.json +121 -0
- model.safetensors +3 -0
- policy_postprocessor.json +32 -0
- policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- policy_preprocessor.json +111 -0
- policy_preprocessor_step_5_normalizer_processor.safetensors +3 -0
- train_config.json +250 -0
config.json
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{
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"type": "smolvla",
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"n_obs_steps": 1,
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"input_features": {
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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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"observation.images.camera1": {
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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.camera2": {
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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.camera3": {
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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.top": {
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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.left": {
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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.images.right": {
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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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},
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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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},
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"device": "cuda",
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"use_amp": false,
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"push_to_hub": true,
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"repo_id": "qownscks/bimuanual_sandwitch_lastdance",
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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path": "lerobot/smolvla_base",
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"chunk_size": 50,
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"n_action_steps": 50,
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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},
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"max_state_dim": 32,
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"max_action_dim": 32,
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"resize_imgs_with_padding": [
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512,
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512
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],
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"empty_cameras": 0,
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"adapt_to_pi_aloha": false,
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"use_delta_joint_actions_aloha": false,
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"tokenizer_max_length": 48,
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"num_steps": 10,
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"use_cache": true,
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"freeze_vision_encoder": true,
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"train_expert_only": true,
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"train_state_proj": true,
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"optimizer_lr": 0.0001,
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"optimizer_betas": [
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0.9,
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0.95
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 1e-10,
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"optimizer_grad_clip_norm": 10.0,
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"scheduler_warmup_steps": 1000,
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"scheduler_decay_steps": 30000,
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"scheduler_decay_lr": 2.5e-06,
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"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
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"load_vlm_weights": true,
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"add_image_special_tokens": false,
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"attention_mode": "cross_attn",
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"prefix_length": 0,
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"pad_language_to": "max_length",
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"num_expert_layers": 0,
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"num_vlm_layers": 16,
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"self_attn_every_n_layers": 2,
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"expert_width_multiplier": 0.75,
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"min_period": 0.004,
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"max_period": 4.0
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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 sha256:4d9f3090ef9c0933050f40e57150af0c1d22998684f7153ef6e96f0cafc8c5fb
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size 906712520
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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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},
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"norm_map": {
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"VISUAL": "IDENTITY",
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"STATE": "MEAN_STD",
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"ACTION": "MEAN_STD"
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}
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},
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
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},
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{
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"registry_name": "device_processor",
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"config": {
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"device": "cpu",
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"float_dtype": null
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}
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}
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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:dd8c01c62a5791a8651a5c97de9b8e657d6d3305781ffc027bd5f867432248e1
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size 9024
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policy_preprocessor.json
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{
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"name": "policy_preprocessor",
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"steps": [
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{
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"registry_name": "rename_observations_processor",
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"config": {
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| 7 |
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"rename_map": {}
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| 8 |
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}
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},
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{
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| 11 |
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"registry_name": "to_batch_processor",
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| 12 |
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"config": {}
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| 13 |
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},
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| 14 |
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{
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| 15 |
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"registry_name": "smolvla_new_line_processor",
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| 16 |
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"config": {}
|
| 17 |
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},
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| 18 |
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{
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| 19 |
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"registry_name": "tokenizer_processor",
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| 20 |
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"config": {
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| 21 |
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"max_length": 48,
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| 22 |
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"task_key": "task",
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| 23 |
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"padding_side": "right",
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| 24 |
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"padding": "max_length",
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| 25 |
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"truncation": true,
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| 26 |
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"tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct"
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| 27 |
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}
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| 28 |
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},
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| 29 |
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{
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| 30 |
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"registry_name": "device_processor",
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| 31 |
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"config": {
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| 32 |
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"device": "cuda",
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| 33 |
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"float_dtype": null
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| 34 |
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}
|
| 35 |
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},
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| 36 |
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{
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| 37 |
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"registry_name": "normalizer_processor",
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| 38 |
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"config": {
|
| 39 |
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"eps": 1e-08,
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| 40 |
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"features": {
|
| 41 |
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"observation.state": {
|
| 42 |
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"type": "STATE",
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| 43 |
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"shape": [
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| 44 |
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6
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]
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| 46 |
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},
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| 47 |
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"observation.images.camera1": {
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| 48 |
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"type": "VISUAL",
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| 49 |
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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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| 54 |
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},
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| 55 |
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"observation.images.camera2": {
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| 56 |
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"type": "VISUAL",
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| 57 |
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"shape": [
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3,
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256,
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| 60 |
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256
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| 61 |
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]
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},
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| 63 |
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"observation.images.camera3": {
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| 64 |
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"type": "VISUAL",
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| 65 |
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"shape": [
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| 66 |
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3,
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| 67 |
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256,
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| 68 |
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256
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]
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| 70 |
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},
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| 71 |
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"observation.images.top": {
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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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| 79 |
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"observation.images.left": {
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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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| 84 |
+
256
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]
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| 86 |
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},
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| 87 |
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"observation.images.right": {
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"type": "VISUAL",
|
| 89 |
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"shape": [
|
| 90 |
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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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"action": {
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"type": "ACTION",
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"shape": [
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| 98 |
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6
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]
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| 100 |
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}
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| 101 |
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},
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| 102 |
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"norm_map": {
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| 103 |
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"VISUAL": "IDENTITY",
|
| 104 |
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"STATE": "MEAN_STD",
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| 105 |
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"ACTION": "MEAN_STD"
|
| 106 |
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}
|
| 107 |
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},
|
| 108 |
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"state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
|
| 109 |
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}
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| 110 |
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]
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| 111 |
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}
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policy_preprocessor_step_5_normalizer_processor.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:dd8c01c62a5791a8651a5c97de9b8e657d6d3305781ffc027bd5f867432248e1
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size 9024
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train_config.json
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| 1 |
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| 2 |
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