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Browse files
config.json
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| 1 |
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{
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| 2 |
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"type": "groot",
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| 3 |
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"n_obs_steps": 1,
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| 4 |
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"input_features": {
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| 5 |
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"observation.image": {
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| 6 |
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"type": "VISUAL",
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| 7 |
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"shape": [
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| 8 |
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3,
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| 9 |
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256,
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| 10 |
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256
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]
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| 12 |
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},
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| 13 |
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"observation.state": {
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| 14 |
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"type": "STATE",
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| 15 |
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"shape": [
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32
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| 17 |
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]
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| 18 |
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}
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| 19 |
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},
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| 20 |
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"output_features": {
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| 21 |
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"action": {
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| 22 |
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"type": "ACTION",
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| 23 |
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"shape": [
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| 24 |
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32
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| 25 |
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]
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| 26 |
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}
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| 27 |
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},
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| 28 |
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"device": "cuda",
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| 29 |
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"use_amp": false,
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| 30 |
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"use_peft": false,
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| 31 |
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"push_to_hub": false,
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| 32 |
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"repo_id": "usr256864/pi0",
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| 33 |
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"private": null,
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| 34 |
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"tags": null,
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| 35 |
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"license": null,
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| 36 |
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"pretrained_path": null,
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| 37 |
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"pretrained_revision": null,
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| 38 |
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"chunk_size": 40,
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| 39 |
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"n_action_steps": 40,
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| 40 |
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"max_state_dim": 132,
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| 41 |
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"max_action_dim": 132,
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| 42 |
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"normalization_mapping": {
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| 43 |
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"VISUAL": "IDENTITY",
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| 44 |
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"STATE": "IDENTITY",
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| 45 |
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"ACTION": "IDENTITY"
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| 46 |
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},
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| 47 |
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"base_model_path": "nvidia/GR00T-N1.7-3B",
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| 48 |
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"action_decode_transform": null,
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| 49 |
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"embodiment_tag": "new_embodiment",
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| 50 |
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"tune_llm": false,
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| 51 |
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"tune_visual": false,
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| 52 |
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"tune_projector": true,
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| 53 |
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"tune_diffusion_model": true,
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| 54 |
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"tune_vlln": true,
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| 55 |
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"tune_top_llm_layers": 0,
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| 56 |
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"num_inference_timesteps": null,
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| 57 |
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"rtc_ramp_rate": null,
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| 58 |
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"use_flash_attention": false,
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| 59 |
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"use_relative_actions": false,
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| 60 |
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"relative_exclude_joints": [],
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| 61 |
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"optimizer_lr": 0.0001,
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| 62 |
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"optimizer_betas": [
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| 63 |
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0.9,
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| 64 |
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0.999
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| 65 |
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],
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| 66 |
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"optimizer_eps": 1e-08,
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| 67 |
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"optimizer_weight_decay": 1e-05,
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| 68 |
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"warmup_ratio": 0.05,
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| 69 |
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"use_bf16": true,
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| 70 |
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"model_params_fp32": true,
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| 71 |
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"image_size": [
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| 72 |
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256,
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| 73 |
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256
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| 74 |
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],
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| 75 |
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"tokenizer_assets_repo": null,
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| 76 |
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"lora_rank": 0,
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| 77 |
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"lora_alpha": 16,
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| 78 |
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"lora_dropout": 0.1,
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| 79 |
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"lora_full_model": false,
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| 80 |
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"video_backend": "decord",
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| 81 |
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"balance_dataset_weights": true,
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| 82 |
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"balance_trajectory_weights": true,
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| 83 |
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"dataset_paths": null,
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| 84 |
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"output_dir": "./tmp/gr00t",
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| 85 |
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"save_steps": 1000,
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| 86 |
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"max_steps": 10000,
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| 87 |
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"batch_size": 32,
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| 88 |
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"dataloader_num_workers": 8,
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| 89 |
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"report_to": "wandb",
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| 90 |
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"resume": false
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| 91 |
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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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| 2 |
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oid sha256:421f3c99680fcf266cdbb68ebe490783d4b9b94000c209e2bca89927ccf4195b
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| 3 |
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size 12576215296
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policy_postprocessor.json
ADDED
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{
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| 2 |
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"name": "policy_postprocessor",
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| 3 |
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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": "groot_action_unpack_unnormalize_v2",
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| 6 |
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"config": {
|
| 7 |
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"env_action_dim": 32,
|
| 8 |
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"normalize_min_max": true,
|
| 9 |
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"clip_normalized_action": true,
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| 10 |
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"libero_gripper_action": false,
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| 11 |
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"libero_gripper_binarize": true
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| 12 |
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},
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| 13 |
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"state_file": "policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors"
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| 14 |
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},
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| 15 |
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{
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| 16 |
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"registry_name": "device_processor",
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| 17 |
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"config": {
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| 18 |
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"device": "cpu",
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| 19 |
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"float_dtype": null
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| 20 |
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}
|
| 21 |
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}
|
| 22 |
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]
|
| 23 |
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}
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policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors
ADDED
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:575e3e54c59eb5e1f1f6deae68caadca0e5bfe6e9404055d322bc2a942330ac9
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| 3 |
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size 11088
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policy_preprocessor.json
ADDED
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@@ -0,0 +1,78 @@
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{
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| 2 |
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"name": "policy_preprocessor",
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| 3 |
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"steps": [
|
| 4 |
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{
|
| 5 |
+
"registry_name": "rename_observations_processor",
|
| 6 |
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"config": {
|
| 7 |
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"rename_map": {}
|
| 8 |
+
}
|
| 9 |
+
},
|
| 10 |
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{
|
| 11 |
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"registry_name": "to_batch_processor",
|
| 12 |
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"config": {}
|
| 13 |
+
},
|
| 14 |
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{
|
| 15 |
+
"registry_name": "groot_n1_7_pack_inputs_v1",
|
| 16 |
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"config": {
|
| 17 |
+
"state_horizon": 1,
|
| 18 |
+
"action_horizon": 40,
|
| 19 |
+
"valid_action_horizon": 40,
|
| 20 |
+
"video_horizon": null,
|
| 21 |
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"max_state_dim": 132,
|
| 22 |
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"max_action_dim": 132,
|
| 23 |
+
"language_key": "task",
|
| 24 |
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"formalize_language": true,
|
| 25 |
+
"embodiment_tag": "new_embodiment",
|
| 26 |
+
"embodiment_mapping": {
|
| 27 |
+
"oxe_droid_relative_eef_relative_joint": 24,
|
| 28 |
+
"xdof_relative_eef_relative_joint": 27,
|
| 29 |
+
"xdof_relative_eef_relative_joint_subtask": 27,
|
| 30 |
+
"real_g1_relative_eef_relative_joints": 25,
|
| 31 |
+
"real_r1_pro_sharpa_relative_eef": 26,
|
| 32 |
+
"real_r1_pro_sharpa_relative_eef_human": 26,
|
| 33 |
+
"real_r1_pro_sharpa_relative_eef_maxinsights": 26,
|
| 34 |
+
"real_r1_pro_sharpa_relative_eef_mecka": 26,
|
| 35 |
+
"unitree_g1_full_body_with_waist_height_nav_cmd": 25,
|
| 36 |
+
"simpler_env_google": 0,
|
| 37 |
+
"simpler_env_widowx": 1,
|
| 38 |
+
"libero_sim": 2,
|
| 39 |
+
"new_embodiment": 10
|
| 40 |
+
},
|
| 41 |
+
"normalize_min_max": true,
|
| 42 |
+
"state_dropout_prob": 0.0,
|
| 43 |
+
"clip_outliers": true,
|
| 44 |
+
"use_percentiles": false,
|
| 45 |
+
"video_modality_keys": null,
|
| 46 |
+
"raw_stats": null,
|
| 47 |
+
"modality_config": null
|
| 48 |
+
},
|
| 49 |
+
"state_file": "policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors"
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"registry_name": "groot_n1_7_vlm_encode_v1",
|
| 53 |
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"config": {
|
| 54 |
+
"model_name": "nvidia/Cosmos-Reason2-2B",
|
| 55 |
+
"image_crop_size": [
|
| 56 |
+
230,
|
| 57 |
+
230
|
| 58 |
+
],
|
| 59 |
+
"image_target_size": [
|
| 60 |
+
256,
|
| 61 |
+
256
|
| 62 |
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],
|
| 63 |
+
"shortest_image_edge": null,
|
| 64 |
+
"crop_fraction": null,
|
| 65 |
+
"use_albumentations": false,
|
| 66 |
+
"letter_box_transform": false,
|
| 67 |
+
"device": "cuda"
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"registry_name": "device_processor",
|
| 72 |
+
"config": {
|
| 73 |
+
"device": "cuda",
|
| 74 |
+
"float_dtype": null
|
| 75 |
+
}
|
| 76 |
+
}
|
| 77 |
+
]
|
| 78 |
+
}
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policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:575e3e54c59eb5e1f1f6deae68caadca0e5bfe6e9404055d322bc2a942330ac9
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| 3 |
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size 11088
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train_config.json
ADDED
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@@ -0,0 +1,297 @@
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