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Browse files- ego_vla_checkpoint/.DS_Store +0 -0
- ego_vla_checkpoint/ckpt-6720/.DS_Store +0 -0
- ego_vla_checkpoint/ckpt-6720/config.json +581 -0
- ego_vla_checkpoint/ckpt-6720/llm/added_tokens.json +7 -0
- ego_vla_checkpoint/ckpt-6720/llm/config.json +31 -0
- ego_vla_checkpoint/ckpt-6720/llm/generation_config.json +14 -0
- ego_vla_checkpoint/ckpt-6720/llm/merges.txt +0 -0
- ego_vla_checkpoint/ckpt-6720/llm/model.safetensors +3 -0
- ego_vla_checkpoint/ckpt-6720/llm/special_tokens_map.json +27 -0
- ego_vla_checkpoint/ckpt-6720/llm/tokenizer_config.json +61 -0
- ego_vla_checkpoint/ckpt-6720/llm/vocab.json +0 -0
- ego_vla_checkpoint/ckpt-6720/mm_projector/config.json +10 -0
- ego_vla_checkpoint/ckpt-6720/mm_projector/model.safetensors +3 -0
- ego_vla_checkpoint/ckpt-6720/traj_decoder/config.json +581 -0
- ego_vla_checkpoint/ckpt-6720/traj_decoder/model.safetensors +3 -0
- ego_vla_checkpoint/ckpt-6720/vision_tower/config.json +19 -0
- ego_vla_checkpoint/ckpt-6720/vision_tower/model.safetensors +3 -0
- ego_vla_checkpoint/ckpt-6720/vision_tower/preprocessor_config.json +24 -0
ego_vla_checkpoint/.DS_Store
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ego_vla_checkpoint/ckpt-6720/.DS_Store
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Binary file (6.15 kB). View file
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ego_vla_checkpoint/ckpt-6720/config.json
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| 1 |
+
{
|
| 2 |
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"_name_or_path": "pretrain_transv2update2_diffdata/otv-fixed-set-aug-room1table1-fixorder-30hz-hoi4dhot3dholotaco-transv2-100e-h5-3d20-rot5-lr2e-6-const-h5p30f1skip6-manoloss6l1-kp0-b16-4",
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| 25 |
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"llm_cfg": {
|
| 35 |
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"_name_or_path": "pretrain_transv2update2_diffdata/otv-fixed-set-aug-room1table1-fixorder-30hz-hoi4dhot3dholotaco-transv2-100e-h5-3d20-rot5-lr2e-6-const-h5p30f1skip6-manoloss6l1-kp0-b16-4/llm",
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| 36 |
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| 37 |
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|
| 38 |
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| 39 |
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| 61 |
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| 62 |
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| 67 |
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|
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|
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| 571 |
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|
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|
| 574 |
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|
| 575 |
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|
| 576 |
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|
| 577 |
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|
| 578 |
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|
| 579 |
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|
| 580 |
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|
| 581 |
+
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|
ego_vla_checkpoint/ckpt-6720/llm/added_tokens.json
ADDED
|
@@ -0,0 +1,7 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
| 1 |
+
{
|
| 2 |
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"<|endoftext|>": 151643,
|
| 3 |
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|
| 4 |
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|
| 5 |
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"[BOS]": 151646,
|
| 6 |
+
"[PAD]": 151647
|
| 7 |
+
}
|
ego_vla_checkpoint/ckpt-6720/llm/config.json
ADDED
|
@@ -0,0 +1,31 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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 |
+
{
|
| 2 |
+
"_name_or_path": "pretrain_transv2update2_diffdata/otv-fixed-set-aug-room1table1-fixorder-30hz-hoi4dhot3dholotaco-transv2-100e-h5-3d20-rot5-lr2e-6-const-h5p30f1skip6-manoloss6l1-kp0-b16-4/llm",
|
| 3 |
+
"architectures": [
|
| 4 |
+
"Qwen2ForCausalLM"
|
| 5 |
+
],
|
| 6 |
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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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|
| 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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|
| 21 |
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|
| 22 |
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|
| 23 |
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"tie_word_embeddings": true,
|
| 24 |
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"tokenizer_model_max_length": 4096,
|
| 25 |
+
"tokenizer_padding_side": "right",
|
| 26 |
+
"torch_dtype": "bfloat16",
|
| 27 |
+
"transformers_version": "4.44.2",
|
| 28 |
+
"use_cache": true,
|
| 29 |
+
"use_sliding_window": false,
|
| 30 |
+
"vocab_size": 151648
|
| 31 |
+
}
|
ego_vla_checkpoint/ckpt-6720/llm/generation_config.json
ADDED
|
@@ -0,0 +1,14 @@
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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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"bos_token_id": 151643,
|
| 3 |
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"do_sample": true,
|
| 4 |
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"eos_token_id": [
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| 5 |
+
151645,
|
| 6 |
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151643
|
| 7 |
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|
| 8 |
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"pad_token_id": 151643,
|
| 9 |
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|
| 10 |
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"temperature": 0.7,
|
| 11 |
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"top_k": 20,
|
| 12 |
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"top_p": 0.8,
|
| 13 |
+
"transformers_version": "4.44.2"
|
| 14 |
+
}
|
ego_vla_checkpoint/ckpt-6720/llm/merges.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
ego_vla_checkpoint/ckpt-6720/llm/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:0f3dcf899d2a35a1fb229af0cbbe5fd27843938a4968679a9e5b0e55367802cf
|
| 3 |
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size 3086582408
|
ego_vla_checkpoint/ckpt-6720/llm/special_tokens_map.json
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
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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 |
+
{
|
| 2 |
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"additional_special_tokens": [
|
| 3 |
+
"<|im_start|>",
|
| 4 |
+
"<|im_end|>"
|
| 5 |
+
],
|
| 6 |
+
"bos_token": {
|
| 7 |
+
"content": "[BOS]",
|
| 8 |
+
"lstrip": false,
|
| 9 |
+
"normalized": false,
|
| 10 |
+
"rstrip": false,
|
| 11 |
+
"single_word": false
|
| 12 |
+
},
|
| 13 |
+
"eos_token": {
|
| 14 |
+
"content": "<|im_end|>",
|
| 15 |
+
"lstrip": false,
|
| 16 |
+
"normalized": false,
|
| 17 |
+
"rstrip": false,
|
| 18 |
+
"single_word": false
|
| 19 |
+
},
|
| 20 |
+
"pad_token": {
|
| 21 |
+
"content": "[PAD]",
|
| 22 |
+
"lstrip": false,
|
| 23 |
+
"normalized": false,
|
| 24 |
+
"rstrip": false,
|
| 25 |
+
"single_word": false
|
| 26 |
+
}
|
| 27 |
+
}
|
ego_vla_checkpoint/ckpt-6720/llm/tokenizer_config.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
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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 |
+
{
|
| 2 |
+
"add_prefix_space": false,
|
| 3 |
+
"added_tokens_decoder": {
|
| 4 |
+
"151643": {
|
| 5 |
+
"content": "<|endoftext|>",
|
| 6 |
+
"lstrip": false,
|
| 7 |
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"normalized": false,
|
| 8 |
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|
| 9 |
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|
| 10 |
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"special": true
|
| 11 |
+
},
|
| 12 |
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"151644": {
|
| 13 |
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"content": "<|im_start|>",
|
| 14 |
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"lstrip": false,
|
| 15 |
+
"normalized": false,
|
| 16 |
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|
| 17 |
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"single_word": false,
|
| 18 |
+
"special": true
|
| 19 |
+
},
|
| 20 |
+
"151645": {
|
| 21 |
+
"content": "<|im_end|>",
|
| 22 |
+
"lstrip": false,
|
| 23 |
+
"normalized": false,
|
| 24 |
+
"rstrip": false,
|
| 25 |
+
"single_word": false,
|
| 26 |
+
"special": true
|
| 27 |
+
},
|
| 28 |
+
"151646": {
|
| 29 |
+
"content": "[BOS]",
|
| 30 |
+
"lstrip": false,
|
| 31 |
+
"normalized": false,
|
| 32 |
+
"rstrip": false,
|
| 33 |
+
"single_word": false,
|
| 34 |
+
"special": true
|
| 35 |
+
},
|
| 36 |
+
"151647": {
|
| 37 |
+
"content": "[PAD]",
|
| 38 |
+
"lstrip": false,
|
| 39 |
+
"normalized": false,
|
| 40 |
+
"rstrip": false,
|
| 41 |
+
"single_word": false,
|
| 42 |
+
"special": true
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
"additional_special_tokens": [
|
| 46 |
+
"<|im_start|>",
|
| 47 |
+
"<|im_end|>"
|
| 48 |
+
],
|
| 49 |
+
"bos_token": "[BOS]",
|
| 50 |
+
"chat_template": "{% if messages[0]['role'] != 'system' %}{{ '<|im_start|>system\\nYou are a helpful assistant<|im_end|>\\n' }}{% endif %}{% for message in messages %}{% if message['content'] is not none %}{{ '<|im_start|>' + message['role'] + '\\n' + message['content'] + '<|im_end|>' + '\\n' }}{% endif %}{% endfor %}{% if add_generation_prompt %}{{ '<|im_start|>assistant\\n' }}{% endif %}",
|
| 51 |
+
"clean_up_tokenization_spaces": false,
|
| 52 |
+
"eos_token": "<|im_end|>",
|
| 53 |
+
"errors": "replace",
|
| 54 |
+
"legacy": false,
|
| 55 |
+
"model_max_length": 4096,
|
| 56 |
+
"pad_token": "[PAD]",
|
| 57 |
+
"padding_side": "right",
|
| 58 |
+
"split_special_tokens": false,
|
| 59 |
+
"tokenizer_class": "Qwen2Tokenizer",
|
| 60 |
+
"unk_token": null
|
| 61 |
+
}
|
ego_vla_checkpoint/ckpt-6720/llm/vocab.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
ego_vla_checkpoint/ckpt-6720/mm_projector/config.json
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"_name_or_path": "pretrain_transv2update2_diffdata/otv-fixed-set-aug-room1table1-fixorder-30hz-hoi4dhot3dholotaco-transv2-100e-h5-3d20-rot5-lr2e-6-const-h5p30f1skip6-manoloss6l1-kp0-b16-4/mm_projector",
|
| 3 |
+
"architectures": [
|
| 4 |
+
"MultimodalProjector"
|
| 5 |
+
],
|
| 6 |
+
"mm_projector_type": "mlp_downsample",
|
| 7 |
+
"model_type": "v2l_projector",
|
| 8 |
+
"torch_dtype": "bfloat16",
|
| 9 |
+
"transformers_version": "4.44.2"
|
| 10 |
+
}
|
ego_vla_checkpoint/ckpt-6720/mm_projector/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:498ea96407600c15553fceebddaf0d4aa3728e1af89674ed85deeaab82349591
|
| 3 |
+
size 18899472
|
ego_vla_checkpoint/ckpt-6720/traj_decoder/config.json
ADDED
|
@@ -0,0 +1,581 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"_name_or_path": "pretrain_transv2update2_diffdata/otv-fixed-set-aug-room1table1-fixorder-30hz-hoi4dhot3dholotaco-transv2-100e-h5-3d20-rot5-lr2e-6-const-h5p30f1skip6-manoloss6l1-kp0-b16-4/traj_decoder",
|
| 3 |
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"action_output_dim": 48,
|
| 4 |
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|
| 5 |
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|
| 6 |
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"action_output_ee_rot_dim": 12,
|
| 7 |
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"action_output_hand_dim": 30,
|
| 8 |
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"action_token_idx": 31733,
|
| 9 |
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"architectures": [
|
| 10 |
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"TrajDecoder"
|
| 11 |
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],
|
| 12 |
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"chat_template": null,
|
| 13 |
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"cvae_hidden_size": 256,
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"ee_loss_coeff": 20.0,
|
| 18 |
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"ee_movement_loss_weight": 1,
|
| 19 |
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"ee_rot_loss_coeff": 5.0,
|
| 20 |
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"ee_rot_representation": "rot6d",
|
| 21 |
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"fps": 0.0,
|
| 22 |
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"hand_kp_loss_coeff": 0.0,
|
| 23 |
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|
| 24 |
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|
| 25 |
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"hidden_size": 1536,
|
| 26 |
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"image_aspect_ratio": "resize",
|
| 27 |
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"input_placeholder_end_token_idx": 151195,
|
| 28 |
+
"input_placeholder_start_token_idx": 151375,
|
| 29 |
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"input_placeholder_token_idx": 151375,
|
| 30 |
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"interpolate_mode": "linear",
|
| 31 |
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"invalid_token_idx": 151376,
|
| 32 |
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"invalid_token_weight": 0.1,
|
| 33 |
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"kl_weight": 0.001,
|
| 34 |
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"llm_cfg": {
|
| 35 |
+
"_name_or_path": "pretrain_transv2update2_diffdata/otv-fixed-set-aug-room1table1-fixorder-30hz-hoi4dhot3dholotaco-transv2-100e-h5-3d20-rot5-lr2e-6-const-h5p30f1skip6-manoloss6l1-kp0-b16-4/llm",
|
| 36 |
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"add_cross_attention": false,
|
| 37 |
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"architectures": [
|
| 38 |
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"Qwen2ForCausalLM"
|
| 39 |
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],
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
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|
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|
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|
| 46 |
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|
| 47 |
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|
| 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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|
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|
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|
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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"0": "LABEL_0",
|
| 60 |
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"1": "LABEL_1"
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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"LABEL_1": 1
|
| 69 |
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},
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
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|
| 74 |
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|
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|
| 76 |
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|
| 77 |
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|
| 79 |
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|
| 80 |
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|
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
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|
| 99 |
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|
| 100 |
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|
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