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Browse files- checkpoint/model.safetensors +3 -0
- config.json +74 -0
- preprocessor.npz +3 -0
checkpoint/model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:fae29a9607ddbe09c73ec2bb8597cd896e4c27ee653af30475cb874834b3d4dc
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size 12624643076
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config.json
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{
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"data": {
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"exp_name": null,
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"robot": "epiclab_franka",
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"proprio_len": 2,
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"action_len": 4,
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"action_dim": 7,
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"goal_dim": 6,
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"action_rel_len": 0,
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"dt_steps": 3,
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"tokenizer": null,
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"image_transform": null,
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"action_token_num": 256,
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"img_steps": 1,
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"img_key": [
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"front",
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"side"
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],
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"image_size": null,
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"anything_prob": 0.2,
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"robot_rep": "xyz_rpy",
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"goal_rep": "xyz_rpy",
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"tokenizer_type": "ratio_min_max_uniform",
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"tokenizer_ratio_limit": 0.01,
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"count_num": 10000,
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"trans_noise": 0.01,
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"rot_noise": 0.05,
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"aug_img_config": {
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"brightness": 0.2,
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"contrast": 0.2,
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"saturation": 0.2,
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"hue": 0.05
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},
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"brightness_img": "front",
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"brightness_threshold": 50.0,
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"crop_mode": {},
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"proprio_dim": 7,
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"use_bbox": 1,
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"pred": null
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},
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"model": {
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"backbone_2d": {
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"name": "dinosiglip",
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"image_size": 224
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},
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"llm": {
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"name": "internlm/internlm2-1_8b",
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"max_len": 2048,
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"special_tokens": [],
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"pad_multiple_of": 64,
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"attn_implementation": "flex_attention"
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},
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"ckpt": "latest-checkpoint.pt",
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"pred": "cot_flow_matching",
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"action_len": 4,
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"action_dim": 7,
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"proprio_dim": 7,
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"action_expert": 1,
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"action_expert_cfg": {
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"hidden_size_scale": 2,
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"intermediate_size_scale": 4,
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"hidden_size": null,
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"intermediate_size": null,
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"hidden_act": null
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},
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"flow_matching_cfg": {
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"beta_alpha": 1.5,
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"beta_beta": 1.0,
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"time_min": 0.001,
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"time_max": 1.0
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}
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},
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"dummy": null
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}
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preprocessor.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:547c1e78c20c748e2768cf29336fdaadd6393b9d3d40d44b55ddf7e49305384c
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size 1258
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