Commit ·
d6bfa6d
0
Parent(s):
RLDX-1 Release
Browse files- .gitattributes +37 -0
- LICENSE.md +61 -0
- README.md +168 -0
- architecture.png +3 -0
- config.json +72 -0
- embodiment_id.json +38 -0
- model-00001-of-00003.safetensors +3 -0
- model-00002-of-00003.safetensors +3 -0
- model-00003-of-00003.safetensors +3 -0
- model.safetensors.index.json +730 -0
- processor_config.json +2975 -0
- statistics.json +0 -0
- teaser.png +3 -0
.gitattributes
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
*.7z filter=lfs diff=lfs merge=lfs -text
|
| 2 |
+
*.arrow filter=lfs diff=lfs merge=lfs -text
|
| 3 |
+
*.bin filter=lfs diff=lfs merge=lfs -text
|
| 4 |
+
*.bz2 filter=lfs diff=lfs merge=lfs -text
|
| 5 |
+
*.ckpt filter=lfs diff=lfs merge=lfs -text
|
| 6 |
+
*.ftz filter=lfs diff=lfs merge=lfs -text
|
| 7 |
+
*.gz filter=lfs diff=lfs merge=lfs -text
|
| 8 |
+
*.h5 filter=lfs diff=lfs merge=lfs -text
|
| 9 |
+
*.joblib filter=lfs diff=lfs merge=lfs -text
|
| 10 |
+
*.lfs.* filter=lfs diff=lfs merge=lfs -text
|
| 11 |
+
*.mlmodel filter=lfs diff=lfs merge=lfs -text
|
| 12 |
+
*.model filter=lfs diff=lfs merge=lfs -text
|
| 13 |
+
*.msgpack filter=lfs diff=lfs merge=lfs -text
|
| 14 |
+
*.npy filter=lfs diff=lfs merge=lfs -text
|
| 15 |
+
*.npz filter=lfs diff=lfs merge=lfs -text
|
| 16 |
+
*.onnx filter=lfs diff=lfs merge=lfs -text
|
| 17 |
+
*.ot filter=lfs diff=lfs merge=lfs -text
|
| 18 |
+
*.parquet filter=lfs diff=lfs merge=lfs -text
|
| 19 |
+
*.pb filter=lfs diff=lfs merge=lfs -text
|
| 20 |
+
*.pickle filter=lfs diff=lfs merge=lfs -text
|
| 21 |
+
*.pkl filter=lfs diff=lfs merge=lfs -text
|
| 22 |
+
*.pt filter=lfs diff=lfs merge=lfs -text
|
| 23 |
+
*.pth filter=lfs diff=lfs merge=lfs -text
|
| 24 |
+
*.rar filter=lfs diff=lfs merge=lfs -text
|
| 25 |
+
*.safetensors filter=lfs diff=lfs merge=lfs -text
|
| 26 |
+
saved_model/**/* filter=lfs diff=lfs merge=lfs -text
|
| 27 |
+
*.tar.* filter=lfs diff=lfs merge=lfs -text
|
| 28 |
+
*.tar filter=lfs diff=lfs merge=lfs -text
|
| 29 |
+
*.tflite filter=lfs diff=lfs merge=lfs -text
|
| 30 |
+
*.tgz filter=lfs diff=lfs merge=lfs -text
|
| 31 |
+
*.wasm filter=lfs diff=lfs merge=lfs -text
|
| 32 |
+
*.xz filter=lfs diff=lfs merge=lfs -text
|
| 33 |
+
*.zip filter=lfs diff=lfs merge=lfs -text
|
| 34 |
+
*.zst filter=lfs diff=lfs merge=lfs -text
|
| 35 |
+
*tfevents* filter=lfs diff=lfs merge=lfs -text
|
| 36 |
+
teaser.png filter=lfs diff=lfs merge=lfs -text
|
| 37 |
+
architecture.png filter=lfs diff=lfs merge=lfs -text
|
LICENSE.md
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# RLWRLD Model License v1.0
|
| 2 |
+
|
| 3 |
+
## 1. Definitions
|
| 4 |
+
|
| 5 |
+
"Licensor" means RLWRLD, INC. and its affiliates.
|
| 6 |
+
|
| 7 |
+
"Model" means the machine learning model, including learnt weights, parameters, configuration files, and documentation made available under this license.
|
| 8 |
+
|
| 9 |
+
"Derivative Model" means all (a) modifications to the Model, (b) works based on the Model, and (c) any other derivative works of the Model, including models fine-tuned from the Model.
|
| 10 |
+
|
| 11 |
+
"You" means an individual or legal entity exercising permissions granted by this license.
|
| 12 |
+
|
| 13 |
+
## 2. License Grant
|
| 14 |
+
|
| 15 |
+
Subject to the terms and conditions of this license, Licensor grants to You a perpetual, worldwide, non-exclusive, royalty-free license to use, reproduce, prepare derivative works of, publicly display, publicly perform, and distribute the Model and any Derivative Models.
|
| 16 |
+
|
| 17 |
+
## 3. Conditions and Limitations
|
| 18 |
+
|
| 19 |
+
**3.1 Non-Commercial Use.** The Model and any Derivative Models may only be used for non-commercial purposes. "Non-commercial" means for academic research, educational, personal, or evaluation purposes only, and does not include any use primarily intended for or directed toward commercial advantage or monetary compensation.
|
| 20 |
+
|
| 21 |
+
**3.2 Attribution.** You must give appropriate credit to Licensor, provide a link to this license, and indicate if changes were made. You must include the following attribution notice with any distribution of the Model or Derivative Model:
|
| 22 |
+
|
| 23 |
+
> "Licensed under the RLWRLD Model License v1.0"
|
| 24 |
+
|
| 25 |
+
**3.3 Share-Alike.** If You distribute a Derivative Model, You must do so under this same license, or another license that includes at minimum (a) a non-commercial use limitation no less restrictive than Section 3.1 and (b) a share-alike requirement no less restrictive than this Section 3.3.
|
| 26 |
+
|
| 27 |
+
**3.4 Redistribution.** You may distribute copies of the Model or Derivative Models provided that You (a) include a complete copy of this license, (b) retain all copyright, trademark, and attribution notices, and (c) comply with all conditions in this Section 3.
|
| 28 |
+
|
| 29 |
+
**3.5 Use Restrictions.** The Model and any Derivative Models shall not be used for: (a) military, weapons development, or defense applications; (b) surveillance or monitoring of individuals without their consent; or (c) any use that violates applicable laws or regulations.
|
| 30 |
+
|
| 31 |
+
**3.6 Trademarks.** This license does not grant any rights to use Licensor's names, logos, or trademarks, except as required for reasonable and customary use in describing the origin of the Model and reproducing the notices described in this license.
|
| 32 |
+
|
| 33 |
+
**3.7 Patent Claims.** If You or Your affiliate(s) bring or threaten to bring any claim or litigation (including any claim, cross-claim, or counterclaim in a lawsuit) against any entity to enforce any patents that You allege are infringed by the Model, then any rights granted to You under this license will terminate immediately.
|
| 34 |
+
|
| 35 |
+
**3.8 Termination.** If You violate any term of this license, Your rights under this license will terminate immediately.
|
| 36 |
+
|
| 37 |
+
## 4. Third-Party Components
|
| 38 |
+
|
| 39 |
+
The Model may include or be distributed with third-party components that are subject to separate license terms and notices. Such components are subject to their respective licenses, including any notices and disclaimers contained therein. Licensor does not grant any rights with respect to third-party components beyond those provided under the applicable third-party licenses.
|
| 40 |
+
|
| 41 |
+
## 5. Disclaimer of Warranty
|
| 42 |
+
|
| 43 |
+
THE MODEL IS PROVIDED "AS IS" WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING WARRANTIES OF TITLE, MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR NONINFRINGEMENT. YOU BEAR THE RISK OF UNDERTAKING ANY ACTIVITIES UNDER THIS LICENSE. YOU ARE SOLELY RESPONSIBLE FOR DETERMINING THE APPROPRIATENESS OR LAWFULNESS OF USING OR REDISTRIBUTING THE MODEL, DERIVATIVE MODELS OR ANY OUTPUT OR RESULTS AND ASSUME ANY RISKS ASSOCIATED WITH YOUR USE OF THE MODEL, DERIVATIVE MODELS AND ANY OUTPUT AND RESULTS.
|
| 44 |
+
|
| 45 |
+
## 6. Limitation of Liability
|
| 46 |
+
|
| 47 |
+
IN NO EVENT SHALL LICENSOR BE LIABLE TO YOU FOR ANY DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF OR RELATED TO THIS LICENSE OR THE USE OR INABILITY TO USE THE MODEL, DERIVATIVE MODELS, OR ANY OUTPUTS THEREOF, EVEN IF LICENSOR HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
|
| 48 |
+
|
| 49 |
+
## 7. Indemnity
|
| 50 |
+
|
| 51 |
+
You shall indemnify and hold harmless Licensor from and against any claim by any third party arising out of or related to Your use or distribution of the Model, Derivative Models, or any outputs thereof.
|
| 52 |
+
|
| 53 |
+
## 8. Feedback
|
| 54 |
+
|
| 55 |
+
If You provide feedback, suggestions, or improvements regarding the Model, Licensor may use such feedback without restriction or compensation to You.
|
| 56 |
+
|
| 57 |
+
## 9. General Provisions
|
| 58 |
+
|
| 59 |
+
**9.1 Governing Law.** This license will be governed by and construed in accordance with the laws of the State of Delaware, United States, without regard to its conflict of laws rules. The UN Convention on Contracts for International Sale of Goods does not apply to this license.
|
| 60 |
+
|
| 61 |
+
**9.2 License Updates.** Licensor may update this license to comply with legal and regulatory requirements at any time. You agree to either comply with any updated license or cease Your use and distribution of the Model and any Derivative Model.
|
README.md
ADDED
|
@@ -0,0 +1,168 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
---
|
| 2 |
+
license: other
|
| 3 |
+
license_name: rlwrld-model-license-v1.0
|
| 4 |
+
license_link: LICENSE.md
|
| 5 |
+
library_name: transformers
|
| 6 |
+
pipeline_tag: robotics
|
| 7 |
+
tags:
|
| 8 |
+
- robotics
|
| 9 |
+
- vla
|
| 10 |
+
- vision-language-action
|
| 11 |
+
- manipulation
|
| 12 |
+
- flow-matching
|
| 13 |
+
- rldx
|
| 14 |
+
- simpler
|
| 15 |
+
- widowx
|
| 16 |
+
base_model: RLWRLD/RLDX-1-PT
|
| 17 |
+
---
|
| 18 |
+
|
| 19 |
+
# RLDX-1-FT-SIMPLER-WIDOWX
|
| 20 |
+
|
| 21 |
+
[Paper](https://arxiv.org/abs/2605.03269) · [Project page](https://rlwrld.ai/rldx-1) · [Code](https://github.com/RLWRLD/RLDX-1) · [Models](https://huggingface.co/collections/RLWRLD/rldx-1)
|
| 22 |
+
|
| 23 |
+
<p align="center">
|
| 24 |
+
<img src="teaser.png" width="100%" alt="RLDX-1 teaser">
|
| 25 |
+
</p>
|
| 26 |
+
|
| 27 |
+
**RLDX-1** is a general-purpose Robot Foundation Model designed for dexterous
|
| 28 |
+
manipulation. Powered by a **Multi-Stream Action Transformer (MSAT)**, it
|
| 29 |
+
seamlessly unifies multimodal perception (visual + tactile), high-DoF
|
| 30 |
+
actuation, and memory-aware decision-making in a single architecture.
|
| 31 |
+
|
| 32 |
+
This repository hosts **`RLDX-1-FT-SIMPLER-WIDOWX`** — RLDX-1 finetuned for
|
| 33 |
+
the **SimplerEnv WidowX** benchmark (BridgeData-style WidowX 250 tasks).
|
| 34 |
+
It achieves **71.9%** average success.
|
| 35 |
+
|
| 36 |
+
## Highlights
|
| 37 |
+
|
| 38 |
+
- **Multi-Stream Action Transformer (MSAT).** Cognition, physics, and
|
| 39 |
+
action each get a dedicated stream coupled by joint self-attention —
|
| 40 |
+
an extension of MM-DiT to action modeling.
|
| 41 |
+
- **Motion awareness.** Multi-frame observations + a motion module
|
| 42 |
+
capture temporal dynamics; intermediate VLM layers compress video
|
| 43 |
+
tokens to keep the policy efficient.
|
| 44 |
+
- **Long-term memory.** A memory module fuses past cognition features
|
| 45 |
+
with the current ones for history-grounded decisions beyond a short
|
| 46 |
+
multi-frame window.
|
| 47 |
+
- **Physical sensing.** Tactile and torque enter as a dedicated physics
|
| 48 |
+
stream; the decoder is jointly trained to predict future physical
|
| 49 |
+
signals.
|
| 50 |
+
- **Three-stage training.** Pre-training (generalization) → mid-training
|
| 51 |
+
(functionality) → post-training (task adaptation), with synthetic data
|
| 52 |
+
augmenting rare manipulation scenarios.
|
| 53 |
+
- **Real-time inference.** Static graph capture + custom fused kernels
|
| 54 |
+
bring the all-modality model to **43.7 ms / step on RTX 5090
|
| 55 |
+
(1.63× speedup, >22 Hz)**.
|
| 56 |
+
|
| 57 |
+
## Performance
|
| 58 |
+
|
| 59 |
+
| Benchmark | Success Rate |
|
| 60 |
+
|---|---|
|
| 61 |
+
| SIMPLER WidowX | **71.9%** |
|
| 62 |
+
|
| 63 |
+
## Quick start
|
| 64 |
+
|
| 65 |
+
### Installation
|
| 66 |
+
|
| 67 |
+
```bash
|
| 68 |
+
git clone https://github.com/RLWRLD/RLDX-1.git
|
| 69 |
+
cd RLDX
|
| 70 |
+
uv sync --python 3.10
|
| 71 |
+
uv pip install -e .
|
| 72 |
+
```
|
| 73 |
+
|
| 74 |
+
### Inference
|
| 75 |
+
|
| 76 |
+
```python
|
| 77 |
+
from rldx.policy.rldx_policy import RLDXPolicy
|
| 78 |
+
from rldx.data.embodiment_tags import EmbodimentTag
|
| 79 |
+
|
| 80 |
+
policy = RLDXPolicy(
|
| 81 |
+
model_path="RLWRLD/RLDX-1-FT-SIMPLER-WIDOWX",
|
| 82 |
+
embodiment_tag=EmbodimentTag.OXE_BRIDGE_ORIG,
|
| 83 |
+
device="cuda:0",
|
| 84 |
+
)
|
| 85 |
+
|
| 86 |
+
action = policy.get_action(observation)
|
| 87 |
+
```
|
| 88 |
+
|
| 89 |
+
### Real-time serving (ZeroMQ)
|
| 90 |
+
|
| 91 |
+
```bash
|
| 92 |
+
uv run python rldx/eval/run_rldx_server.py \
|
| 93 |
+
--model-path RLWRLD/RLDX-1-FT-SIMPLER-WIDOWX \
|
| 94 |
+
--embodiment-tag OXE_BRIDGE_ORIG \
|
| 95 |
+
--host 0.0.0.0 --port 20000
|
| 96 |
+
```
|
| 97 |
+
|
| 98 |
+
To reproduce the benchmark numbers end-to-end, see
|
| 99 |
+
[`run_scripts/eval/simpler/README.md`](https://github.com/RLWRLD/RLDX-1/blob/main/run_scripts/eval/simpler/README.md).
|
| 100 |
+
|
| 101 |
+
## Model details
|
| 102 |
+
|
| 103 |
+
- **Architecture:** Multi-Stream Action Transformer (MSAT) policy on a
|
| 104 |
+
Qwen3-VL backbone with cognition-token perceptual summary. Trained with
|
| 105 |
+
flow matching.
|
| 106 |
+
- **Inputs:** RGB video (default 4 frames), state proprioception, language
|
| 107 |
+
instruction.
|
| 108 |
+
- **Outputs:** Action chunks of length 16.
|
| 109 |
+
- **Embodiment tag:** `OXE_BRIDGE_ORIG`.
|
| 110 |
+
- **Base model:** [`RLWRLD/RLDX-1-PT`](https://huggingface.co/RLWRLD/RLDX-1-PT).
|
| 111 |
+
- **Backbone:** [`Qwen/Qwen3-VL-8B-Instruct`](https://huggingface.co/Qwen/Qwen3-VL-8B-Instruct).
|
| 112 |
+
- **Finetune data:** SimplerEnv WidowX training set (BridgeData subset of OXE).
|
| 113 |
+
- **Params:** 6.9B.
|
| 114 |
+
|
| 115 |
+
For the full architectural walkthrough see
|
| 116 |
+
[`docs/architecture.md`](https://github.com/RLWRLD/RLDX-1/blob/main/docs/architecture.md).
|
| 117 |
+
|
| 118 |
+
## RLDX-1 model family
|
| 119 |
+
|
| 120 |
+
| Checkpoint | Description |
|
| 121 |
+
|---|---|
|
| 122 |
+
| [`RLDX-1-PT`](https://huggingface.co/RLWRLD/RLDX-1-PT) | Multi-source pretrained foundation |
|
| 123 |
+
| [`RLDX-1-VLM`](https://huggingface.co/RLWRLD/RLDX-1-VLM) | Qwen3-VL-8B vision-language backbone |
|
| 124 |
+
| [`RLDX-1-FT-ROBOCASA`](https://huggingface.co/RLWRLD/RLDX-1-FT-ROBOCASA) | RoboCasa Kitchen 24-task finetune |
|
| 125 |
+
| [`RLDX-1-FT-RC365`](https://huggingface.co/RLWRLD/RLDX-1-FT-RC365) | RoboCasa-365 cross-task finetune |
|
| 126 |
+
| [`RLDX-1-FT-LIBERO`](https://huggingface.co/RLWRLD/RLDX-1-FT-LIBERO) | LIBERO 4-task suite (goal, object, spatial, long) finetune |
|
| 127 |
+
| [`RLDX-1-FT-SIMPLER-GOOGLE`](https://huggingface.co/RLWRLD/RLDX-1-FT-SIMPLER-GOOGLE) | SIMPLER Google VM/VA finetune |
|
| 128 |
+
| [`RLDX-1-FT-SIMPLER-WIDOWX`](https://huggingface.co/RLWRLD/RLDX-1-FT-SIMPLER-WIDOWX) | SIMPLER WidowX finetune (this repo) |
|
| 129 |
+
| [`RLDX-1-FT-GR1`](https://huggingface.co/RLWRLD/RLDX-1-FT-GR1) | GR-1 Tabletop finetune |
|
| 130 |
+
| [`RLDX-1-MT-DROID`](https://huggingface.co/RLWRLD/RLDX-1-MT-DROID) | DROID mid-train |
|
| 131 |
+
| [`RLDX-1-MT-ALLEX`](https://huggingface.co/RLWRLD/RLDX-1-MT-ALLEX) | All add-ons (memory + motion + physics + video) |
|
| 132 |
+
|
| 133 |
+
## Intended use & limitations
|
| 134 |
+
|
| 135 |
+
**Intended use.** Research on robotic manipulation, simulation benchmarking
|
| 136 |
+
on SimplerEnv WidowX, and non-commercial real-robot deployment under the
|
| 137 |
+
conditions of the RLWRLD Model License v1.0.
|
| 138 |
+
|
| 139 |
+
**Out of scope.** Commercial deployment, military or weapons applications,
|
| 140 |
+
non-consensual surveillance, and any use that violates applicable laws or
|
| 141 |
+
regulations. See [`LICENSE.md`](LICENSE.md) §3.5 for the full list.
|
| 142 |
+
|
| 143 |
+
**Limitations.** Conditioned on the WidowX 250 BridgeData embodiment. For
|
| 144 |
+
Google-Robot evaluation use
|
| 145 |
+
[`RLDX-1-FT-SIMPLER-GOOGLE`](https://huggingface.co/RLWRLD/RLDX-1-FT-SIMPLER-GOOGLE);
|
| 146 |
+
for other embodiments, finetune from
|
| 147 |
+
[`RLDX-1-PT`](https://huggingface.co/RLWRLD/RLDX-1-PT) instead.
|
| 148 |
+
|
| 149 |
+
## Citation
|
| 150 |
+
|
| 151 |
+
```bibtex
|
| 152 |
+
@article{rldx2026,
|
| 153 |
+
title={RLDX-1 Technical Report},
|
| 154 |
+
author={Kim, Dongyoung and Jang, Huiwon and Koo, Myungkyu and Jang, Suhyeok and Kim, Taeyoung and others},
|
| 155 |
+
year={2026},
|
| 156 |
+
note={RLWRLD},
|
| 157 |
+
eprint={2605.03269},
|
| 158 |
+
archivePrefix={arXiv},
|
| 159 |
+
url={https://arxiv.org/abs/2605.03269}
|
| 160 |
+
}
|
| 161 |
+
```
|
| 162 |
+
|
| 163 |
+
## License
|
| 164 |
+
|
| 165 |
+
Released under the **RLWRLD Model License v1.0** — a non-commercial license
|
| 166 |
+
with attribution and share-alike requirements. See [`LICENSE.md`](LICENSE.md) for
|
| 167 |
+
the full text. By using this model you agree to those terms, including the
|
| 168 |
+
use restrictions in §3.5.
|
architecture.png
ADDED
|
Git LFS Details
|
config.json
ADDED
|
@@ -0,0 +1,72 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"architectures": [
|
| 3 |
+
"RLDX"
|
| 4 |
+
],
|
| 5 |
+
"attn_implementation": null,
|
| 6 |
+
"backbone_model_type": "vtc_qwen3_vl",
|
| 7 |
+
"backbone_trainable_params_fp32": true,
|
| 8 |
+
"color_jitter_params": {
|
| 9 |
+
"brightness": 0.3,
|
| 10 |
+
"contrast": 0.4,
|
| 11 |
+
"hue": 0.08,
|
| 12 |
+
"saturation": 0.5
|
| 13 |
+
},
|
| 14 |
+
"conversation_image_first": false,
|
| 15 |
+
"diffusion_model_cfg": {
|
| 16 |
+
"action_model_max_seq_len": 512,
|
| 17 |
+
"attention_head_dim": 64,
|
| 18 |
+
"depth_multi_stream": 4,
|
| 19 |
+
"depth_single_stream": 8,
|
| 20 |
+
"dropout": 0.2,
|
| 21 |
+
"final_dropout": true,
|
| 22 |
+
"num_attention_heads": 24,
|
| 23 |
+
"output_dim": 1024,
|
| 24 |
+
"positional_embeddings": "rope_sa_only",
|
| 25 |
+
"pre_norm": "layer_norm",
|
| 26 |
+
"qk_norm": "rms_norm",
|
| 27 |
+
"rope_theta": 10000.0,
|
| 28 |
+
"sa_dim": 1536,
|
| 29 |
+
"set_triple_stream_for_mq": false,
|
| 30 |
+
"set_triple_stream_for_state": false,
|
| 31 |
+
"temb_type": "input_token",
|
| 32 |
+
"use_swiglu": true,
|
| 33 |
+
"vl_dim": 4096
|
| 34 |
+
},
|
| 35 |
+
"dtype": "bfloat16",
|
| 36 |
+
"load_bf16": true,
|
| 37 |
+
"memory_cfg": {
|
| 38 |
+
"hidden_size": 4096,
|
| 39 |
+
"intermediate_size": 16384,
|
| 40 |
+
"max_position_embeddings": 32,
|
| 41 |
+
"num_attention_heads": 16,
|
| 42 |
+
"num_hidden_layers": 2,
|
| 43 |
+
"num_key_value_heads": 16,
|
| 44 |
+
"rms_norm_eps": 1e-05,
|
| 45 |
+
"use_causal_attn": true,
|
| 46 |
+
"use_rope": true
|
| 47 |
+
},
|
| 48 |
+
"memory_video_delta_indices": [
|
| 49 |
+
-48,
|
| 50 |
+
-32,
|
| 51 |
+
-16,
|
| 52 |
+
0
|
| 53 |
+
],
|
| 54 |
+
"model_name": "RLWRLD/RLDX-1-VLM",
|
| 55 |
+
"model_type": "RLDX-1",
|
| 56 |
+
"n_cog_tokens": 64,
|
| 57 |
+
"general_embodiment_train_ratio": 0,
|
| 58 |
+
"qwen3_collator": true,
|
| 59 |
+
"random_rotation_angle": null,
|
| 60 |
+
"reproject_vision": false,
|
| 61 |
+
"state_dropout_prob": 0.0,
|
| 62 |
+
"transformers_version": "4.57.0",
|
| 63 |
+
"tune_diffusion_model": true,
|
| 64 |
+
"tune_llm": false,
|
| 65 |
+
"tune_projector": true,
|
| 66 |
+
"tune_top_llm_layers": 4,
|
| 67 |
+
"tune_visual": false,
|
| 68 |
+
"tune_vlln": true,
|
| 69 |
+
"use_relative_action": true,
|
| 70 |
+
"use_video": true,
|
| 71 |
+
"video_length": 4
|
| 72 |
+
}
|
embodiment_id.json
ADDED
|
@@ -0,0 +1,38 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"general_embodiment": 0,
|
| 3 |
+
"fractal20220817_data": 1,
|
| 4 |
+
"kuka": 2,
|
| 5 |
+
"bridge_orig": 3,
|
| 6 |
+
"taco_play": 4,
|
| 7 |
+
"jaco_play": 5,
|
| 8 |
+
"berkeley_cable_routing": 6,
|
| 9 |
+
"roboturk": 7,
|
| 10 |
+
"viola": 8,
|
| 11 |
+
"berkeley_autolab_ur5": 9,
|
| 12 |
+
"toto": 10,
|
| 13 |
+
"language_table": 11,
|
| 14 |
+
"stanford_hydra_dataset_converted_externally_to_rlds": 12,
|
| 15 |
+
"austin_buds_dataset_converted_externally_to_rlds": 13,
|
| 16 |
+
"nyu_franka_play_dataset_converted_externally_to_rlds": 14,
|
| 17 |
+
"furniture_bench_dataset_converted_externally_to_rlds": 15,
|
| 18 |
+
"ucsd_kitchen_dataset_converted_externally_to_rlds": 16,
|
| 19 |
+
"austin_sailor_dataset_converted_externally_to_rlds": 17,
|
| 20 |
+
"austin_sirius_dataset_converted_externally_to_rlds": 18,
|
| 21 |
+
"dlr_edan_shared_control_converted_externally_to_rlds": 19,
|
| 22 |
+
"iamlab_cmu_pickup_insert_converted_externally_to_rlds": 20,
|
| 23 |
+
"utaustin_mutex": 21,
|
| 24 |
+
"berkeley_fanuc_manipulation": 22,
|
| 25 |
+
"cmu_stretch": 23,
|
| 26 |
+
"bc_z": 24,
|
| 27 |
+
"fmb_dataset": 25,
|
| 28 |
+
"dobbe": 26,
|
| 29 |
+
"droid": 27,
|
| 30 |
+
"agibot_dexhand": 28,
|
| 31 |
+
"agibot_gripper": 29,
|
| 32 |
+
"galaxea": 30,
|
| 33 |
+
"humanoid_everyday_g1": 31,
|
| 34 |
+
"humanoid_everyday_h1": 32,
|
| 35 |
+
"action_net": 33,
|
| 36 |
+
"neural_gr1": 34,
|
| 37 |
+
"new_embodiment": 35
|
| 38 |
+
}
|
model-00001-of-00003.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:67bd5d3f9d3471052ae5fe24036c20a2831f96209fa4f9adc75a9dde9bf6e44d
|
| 3 |
+
size 4912540968
|
model-00002-of-00003.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fadfc08bd5467a851a6610c7c3433d6d1f124dc5f0de7fa7a126f0cec535307f
|
| 3 |
+
size 4446192352
|
model-00003-of-00003.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fa3d31f98edc428a219a573733c03ad00d1248fbc305e1ce9a083c328aa61290
|
| 3 |
+
size 4467155576
|
model.safetensors.index.json
ADDED
|
@@ -0,0 +1,730 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"metadata": {
|
| 3 |
+
"total_parameters": 6912894784,
|
| 4 |
+
"total_size": 13825888896
|
| 5 |
+
},
|
| 6 |
+
"weight_map": {
|
| 7 |
+
"backbone.cog_emb": "model-00001-of-00003.safetensors",
|
| 8 |
+
"backbone.qwen_model.model.language_model.embed_tokens.weight": "model-00001-of-00003.safetensors",
|
| 9 |
+
"backbone.qwen_model.model.language_model.layers.0.layer.input_layernorm.weight": "model-00001-of-00003.safetensors",
|
| 10 |
+
"backbone.qwen_model.model.language_model.layers.0.layer.mlp.down_proj.weight": "model-00001-of-00003.safetensors",
|
| 11 |
+
"backbone.qwen_model.model.language_model.layers.0.layer.mlp.gate_proj.weight": "model-00001-of-00003.safetensors",
|
| 12 |
+
"backbone.qwen_model.model.language_model.layers.0.layer.mlp.up_proj.weight": "model-00001-of-00003.safetensors",
|
| 13 |
+
"backbone.qwen_model.model.language_model.layers.0.layer.post_attention_layernorm.weight": "model-00001-of-00003.safetensors",
|
| 14 |
+
"backbone.qwen_model.model.language_model.layers.0.layer.self_attn.k_norm.weight": "model-00001-of-00003.safetensors",
|
| 15 |
+
"backbone.qwen_model.model.language_model.layers.0.layer.self_attn.k_proj.weight": "model-00001-of-00003.safetensors",
|
| 16 |
+
"backbone.qwen_model.model.language_model.layers.0.layer.self_attn.o_proj.weight": "model-00001-of-00003.safetensors",
|
| 17 |
+
"backbone.qwen_model.model.language_model.layers.0.layer.self_attn.q_norm.weight": "model-00001-of-00003.safetensors",
|
| 18 |
+
"backbone.qwen_model.model.language_model.layers.0.layer.self_attn.q_proj.weight": "model-00001-of-00003.safetensors",
|
| 19 |
+
"backbone.qwen_model.model.language_model.layers.0.layer.self_attn.v_proj.weight": "model-00001-of-00003.safetensors",
|
| 20 |
+
"backbone.qwen_model.model.language_model.layers.1.layer.input_layernorm.weight": "model-00001-of-00003.safetensors",
|
| 21 |
+
"backbone.qwen_model.model.language_model.layers.1.layer.mlp.down_proj.weight": "model-00001-of-00003.safetensors",
|
| 22 |
+
"backbone.qwen_model.model.language_model.layers.1.layer.mlp.gate_proj.weight": "model-00001-of-00003.safetensors",
|
| 23 |
+
"backbone.qwen_model.model.language_model.layers.1.layer.mlp.up_proj.weight": "model-00001-of-00003.safetensors",
|
| 24 |
+
"backbone.qwen_model.model.language_model.layers.1.layer.post_attention_layernorm.weight": "model-00001-of-00003.safetensors",
|
| 25 |
+
"backbone.qwen_model.model.language_model.layers.1.layer.self_attn.k_norm.weight": "model-00001-of-00003.safetensors",
|
| 26 |
+
"backbone.qwen_model.model.language_model.layers.1.layer.self_attn.k_proj.weight": "model-00001-of-00003.safetensors",
|
| 27 |
+
"backbone.qwen_model.model.language_model.layers.1.layer.self_attn.o_proj.weight": "model-00001-of-00003.safetensors",
|
| 28 |
+
"backbone.qwen_model.model.language_model.layers.1.layer.self_attn.q_norm.weight": "model-00001-of-00003.safetensors",
|
| 29 |
+
"backbone.qwen_model.model.language_model.layers.1.layer.self_attn.q_proj.weight": "model-00001-of-00003.safetensors",
|
| 30 |
+
"backbone.qwen_model.model.language_model.layers.1.layer.self_attn.v_proj.weight": "model-00001-of-00003.safetensors",
|
| 31 |
+
"backbone.qwen_model.model.language_model.layers.2.layer.input_layernorm.weight": "model-00001-of-00003.safetensors",
|
| 32 |
+
"backbone.qwen_model.model.language_model.layers.2.layer.mlp.down_proj.weight": "model-00001-of-00003.safetensors",
|
| 33 |
+
"backbone.qwen_model.model.language_model.layers.2.layer.mlp.gate_proj.weight": "model-00001-of-00003.safetensors",
|
| 34 |
+
"backbone.qwen_model.model.language_model.layers.2.layer.mlp.up_proj.weight": "model-00001-of-00003.safetensors",
|
| 35 |
+
"backbone.qwen_model.model.language_model.layers.2.layer.post_attention_layernorm.weight": "model-00001-of-00003.safetensors",
|
| 36 |
+
"backbone.qwen_model.model.language_model.layers.2.layer.self_attn.k_norm.weight": "model-00001-of-00003.safetensors",
|
| 37 |
+
"backbone.qwen_model.model.language_model.layers.2.layer.self_attn.k_proj.weight": "model-00001-of-00003.safetensors",
|
| 38 |
+
"backbone.qwen_model.model.language_model.layers.2.layer.self_attn.o_proj.weight": "model-00001-of-00003.safetensors",
|
| 39 |
+
"backbone.qwen_model.model.language_model.layers.2.layer.self_attn.q_norm.weight": "model-00001-of-00003.safetensors",
|
| 40 |
+
"backbone.qwen_model.model.language_model.layers.2.layer.self_attn.q_proj.weight": "model-00001-of-00003.safetensors",
|
| 41 |
+
"backbone.qwen_model.model.language_model.layers.2.layer.self_attn.v_proj.weight": "model-00001-of-00003.safetensors",
|
| 42 |
+
"backbone.qwen_model.model.language_model.layers.3.layer.input_layernorm.weight": "model-00001-of-00003.safetensors",
|
| 43 |
+
"backbone.qwen_model.model.language_model.layers.3.layer.mlp.down_proj.weight": "model-00001-of-00003.safetensors",
|
| 44 |
+
"backbone.qwen_model.model.language_model.layers.3.layer.mlp.gate_proj.weight": "model-00001-of-00003.safetensors",
|
| 45 |
+
"backbone.qwen_model.model.language_model.layers.3.layer.mlp.up_proj.weight": "model-00001-of-00003.safetensors",
|
| 46 |
+
"backbone.qwen_model.model.language_model.layers.3.layer.post_attention_layernorm.weight": "model-00001-of-00003.safetensors",
|
| 47 |
+
"backbone.qwen_model.model.language_model.layers.3.layer.self_attn.k_norm.weight": "model-00001-of-00003.safetensors",
|
| 48 |
+
"backbone.qwen_model.model.language_model.layers.3.layer.self_attn.k_proj.weight": "model-00001-of-00003.safetensors",
|
| 49 |
+
"backbone.qwen_model.model.language_model.layers.3.layer.self_attn.o_proj.weight": "model-00001-of-00003.safetensors",
|
| 50 |
+
"backbone.qwen_model.model.language_model.layers.3.layer.self_attn.q_norm.weight": "model-00001-of-00003.safetensors",
|
| 51 |
+
"backbone.qwen_model.model.language_model.layers.3.layer.self_attn.q_proj.weight": "model-00001-of-00003.safetensors",
|
| 52 |
+
"backbone.qwen_model.model.language_model.layers.3.layer.self_attn.v_proj.weight": "model-00001-of-00003.safetensors",
|
| 53 |
+
"backbone.qwen_model.model.language_model.layers.4.layer.input_layernorm.weight": "model-00001-of-00003.safetensors",
|
| 54 |
+
"backbone.qwen_model.model.language_model.layers.4.layer.mlp.down_proj.weight": "model-00001-of-00003.safetensors",
|
| 55 |
+
"backbone.qwen_model.model.language_model.layers.4.layer.mlp.gate_proj.weight": "model-00001-of-00003.safetensors",
|
| 56 |
+
"backbone.qwen_model.model.language_model.layers.4.layer.mlp.up_proj.weight": "model-00001-of-00003.safetensors",
|
| 57 |
+
"backbone.qwen_model.model.language_model.layers.4.layer.post_attention_layernorm.weight": "model-00001-of-00003.safetensors",
|
| 58 |
+
"backbone.qwen_model.model.language_model.layers.4.layer.self_attn.k_norm.weight": "model-00001-of-00003.safetensors",
|
| 59 |
+
"backbone.qwen_model.model.language_model.layers.4.layer.self_attn.k_proj.weight": "model-00001-of-00003.safetensors",
|
| 60 |
+
"backbone.qwen_model.model.language_model.layers.4.layer.self_attn.o_proj.weight": "model-00001-of-00003.safetensors",
|
| 61 |
+
"backbone.qwen_model.model.language_model.layers.4.layer.self_attn.q_norm.weight": "model-00001-of-00003.safetensors",
|
| 62 |
+
"backbone.qwen_model.model.language_model.layers.4.layer.self_attn.q_proj.weight": "model-00001-of-00003.safetensors",
|
| 63 |
+
"backbone.qwen_model.model.language_model.layers.4.layer.self_attn.v_proj.weight": "model-00001-of-00003.safetensors",
|
| 64 |
+
"backbone.qwen_model.model.language_model.layers.5.layer.input_layernorm.weight": "model-00001-of-00003.safetensors",
|
| 65 |
+
"backbone.qwen_model.model.language_model.layers.5.layer.mlp.down_proj.weight": "model-00001-of-00003.safetensors",
|
| 66 |
+
"backbone.qwen_model.model.language_model.layers.5.layer.mlp.gate_proj.weight": "model-00001-of-00003.safetensors",
|
| 67 |
+
"backbone.qwen_model.model.language_model.layers.5.layer.mlp.up_proj.weight": "model-00001-of-00003.safetensors",
|
| 68 |
+
"backbone.qwen_model.model.language_model.layers.5.layer.post_attention_layernorm.weight": "model-00001-of-00003.safetensors",
|
| 69 |
+
"backbone.qwen_model.model.language_model.layers.5.layer.self_attn.k_norm.weight": "model-00001-of-00003.safetensors",
|
| 70 |
+
"backbone.qwen_model.model.language_model.layers.5.layer.self_attn.k_proj.weight": "model-00001-of-00003.safetensors",
|
| 71 |
+
"backbone.qwen_model.model.language_model.layers.5.layer.self_attn.o_proj.weight": "model-00001-of-00003.safetensors",
|
| 72 |
+
"backbone.qwen_model.model.language_model.layers.5.layer.self_attn.q_norm.weight": "model-00001-of-00003.safetensors",
|
| 73 |
+
"backbone.qwen_model.model.language_model.layers.5.layer.self_attn.q_proj.weight": "model-00001-of-00003.safetensors",
|
| 74 |
+
"backbone.qwen_model.model.language_model.layers.5.layer.self_attn.v_proj.weight": "model-00001-of-00003.safetensors",
|
| 75 |
+
"backbone.qwen_model.model.language_model.layers.6.layer.mlp.gate_proj.weight": "model-00001-of-00003.safetensors",
|
| 76 |
+
"backbone.qwen_model.model.language_model.layers.6.layer.self_attn.k_norm.weight": "model-00001-of-00003.safetensors",
|
| 77 |
+
"backbone.qwen_model.model.language_model.layers.6.layer.self_attn.k_proj.weight": "model-00001-of-00003.safetensors",
|
| 78 |
+
"backbone.qwen_model.model.language_model.layers.6.layer.self_attn.o_proj.weight": "model-00001-of-00003.safetensors",
|
| 79 |
+
"backbone.qwen_model.model.language_model.layers.6.layer.self_attn.q_norm.weight": "model-00001-of-00003.safetensors",
|
| 80 |
+
"backbone.qwen_model.model.language_model.layers.6.layer.self_attn.q_proj.weight": "model-00001-of-00003.safetensors",
|
| 81 |
+
"backbone.qwen_model.model.language_model.layers.6.layer.self_attn.v_proj.weight": "model-00001-of-00003.safetensors",
|
| 82 |
+
"backbone.qwen_model.model.visual.blocks.0.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 83 |
+
"backbone.qwen_model.model.visual.blocks.0.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 84 |
+
"backbone.qwen_model.model.visual.blocks.0.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 85 |
+
"backbone.qwen_model.model.visual.blocks.0.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 86 |
+
"backbone.qwen_model.model.visual.blocks.0.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 87 |
+
"backbone.qwen_model.model.visual.blocks.0.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 88 |
+
"backbone.qwen_model.model.visual.blocks.0.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 89 |
+
"backbone.qwen_model.model.visual.blocks.0.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 90 |
+
"backbone.qwen_model.model.visual.blocks.0.norm1.bias": "model-00001-of-00003.safetensors",
|
| 91 |
+
"backbone.qwen_model.model.visual.blocks.0.norm1.weight": "model-00001-of-00003.safetensors",
|
| 92 |
+
"backbone.qwen_model.model.visual.blocks.0.norm2.bias": "model-00001-of-00003.safetensors",
|
| 93 |
+
"backbone.qwen_model.model.visual.blocks.0.norm2.weight": "model-00001-of-00003.safetensors",
|
| 94 |
+
"backbone.qwen_model.model.visual.blocks.1.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 95 |
+
"backbone.qwen_model.model.visual.blocks.1.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 96 |
+
"backbone.qwen_model.model.visual.blocks.1.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 97 |
+
"backbone.qwen_model.model.visual.blocks.1.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 98 |
+
"backbone.qwen_model.model.visual.blocks.1.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 99 |
+
"backbone.qwen_model.model.visual.blocks.1.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 100 |
+
"backbone.qwen_model.model.visual.blocks.1.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 101 |
+
"backbone.qwen_model.model.visual.blocks.1.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 102 |
+
"backbone.qwen_model.model.visual.blocks.1.norm1.bias": "model-00001-of-00003.safetensors",
|
| 103 |
+
"backbone.qwen_model.model.visual.blocks.1.norm1.weight": "model-00001-of-00003.safetensors",
|
| 104 |
+
"backbone.qwen_model.model.visual.blocks.1.norm2.bias": "model-00001-of-00003.safetensors",
|
| 105 |
+
"backbone.qwen_model.model.visual.blocks.1.norm2.weight": "model-00001-of-00003.safetensors",
|
| 106 |
+
"backbone.qwen_model.model.visual.blocks.10.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 107 |
+
"backbone.qwen_model.model.visual.blocks.10.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 108 |
+
"backbone.qwen_model.model.visual.blocks.10.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 109 |
+
"backbone.qwen_model.model.visual.blocks.10.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 110 |
+
"backbone.qwen_model.model.visual.blocks.10.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 111 |
+
"backbone.qwen_model.model.visual.blocks.10.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 112 |
+
"backbone.qwen_model.model.visual.blocks.10.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 113 |
+
"backbone.qwen_model.model.visual.blocks.10.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 114 |
+
"backbone.qwen_model.model.visual.blocks.10.norm1.bias": "model-00001-of-00003.safetensors",
|
| 115 |
+
"backbone.qwen_model.model.visual.blocks.10.norm1.weight": "model-00001-of-00003.safetensors",
|
| 116 |
+
"backbone.qwen_model.model.visual.blocks.10.norm2.bias": "model-00001-of-00003.safetensors",
|
| 117 |
+
"backbone.qwen_model.model.visual.blocks.10.norm2.weight": "model-00001-of-00003.safetensors",
|
| 118 |
+
"backbone.qwen_model.model.visual.blocks.11.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 119 |
+
"backbone.qwen_model.model.visual.blocks.11.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 120 |
+
"backbone.qwen_model.model.visual.blocks.11.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 121 |
+
"backbone.qwen_model.model.visual.blocks.11.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 122 |
+
"backbone.qwen_model.model.visual.blocks.11.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 123 |
+
"backbone.qwen_model.model.visual.blocks.11.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 124 |
+
"backbone.qwen_model.model.visual.blocks.11.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 125 |
+
"backbone.qwen_model.model.visual.blocks.11.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 126 |
+
"backbone.qwen_model.model.visual.blocks.11.norm1.bias": "model-00001-of-00003.safetensors",
|
| 127 |
+
"backbone.qwen_model.model.visual.blocks.11.norm1.weight": "model-00001-of-00003.safetensors",
|
| 128 |
+
"backbone.qwen_model.model.visual.blocks.11.norm2.bias": "model-00001-of-00003.safetensors",
|
| 129 |
+
"backbone.qwen_model.model.visual.blocks.11.norm2.weight": "model-00001-of-00003.safetensors",
|
| 130 |
+
"backbone.qwen_model.model.visual.blocks.12.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 131 |
+
"backbone.qwen_model.model.visual.blocks.12.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 132 |
+
"backbone.qwen_model.model.visual.blocks.12.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 133 |
+
"backbone.qwen_model.model.visual.blocks.12.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 134 |
+
"backbone.qwen_model.model.visual.blocks.12.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 135 |
+
"backbone.qwen_model.model.visual.blocks.12.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 136 |
+
"backbone.qwen_model.model.visual.blocks.12.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 137 |
+
"backbone.qwen_model.model.visual.blocks.12.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 138 |
+
"backbone.qwen_model.model.visual.blocks.12.norm1.bias": "model-00001-of-00003.safetensors",
|
| 139 |
+
"backbone.qwen_model.model.visual.blocks.12.norm1.weight": "model-00001-of-00003.safetensors",
|
| 140 |
+
"backbone.qwen_model.model.visual.blocks.12.norm2.bias": "model-00001-of-00003.safetensors",
|
| 141 |
+
"backbone.qwen_model.model.visual.blocks.12.norm2.weight": "model-00001-of-00003.safetensors",
|
| 142 |
+
"backbone.qwen_model.model.visual.blocks.13.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 143 |
+
"backbone.qwen_model.model.visual.blocks.13.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 144 |
+
"backbone.qwen_model.model.visual.blocks.13.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 145 |
+
"backbone.qwen_model.model.visual.blocks.13.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 146 |
+
"backbone.qwen_model.model.visual.blocks.13.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 147 |
+
"backbone.qwen_model.model.visual.blocks.13.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 148 |
+
"backbone.qwen_model.model.visual.blocks.13.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 149 |
+
"backbone.qwen_model.model.visual.blocks.13.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 150 |
+
"backbone.qwen_model.model.visual.blocks.13.norm1.bias": "model-00001-of-00003.safetensors",
|
| 151 |
+
"backbone.qwen_model.model.visual.blocks.13.norm1.weight": "model-00001-of-00003.safetensors",
|
| 152 |
+
"backbone.qwen_model.model.visual.blocks.13.norm2.bias": "model-00001-of-00003.safetensors",
|
| 153 |
+
"backbone.qwen_model.model.visual.blocks.13.norm2.weight": "model-00001-of-00003.safetensors",
|
| 154 |
+
"backbone.qwen_model.model.visual.blocks.14.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 155 |
+
"backbone.qwen_model.model.visual.blocks.14.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 156 |
+
"backbone.qwen_model.model.visual.blocks.14.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 157 |
+
"backbone.qwen_model.model.visual.blocks.14.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 158 |
+
"backbone.qwen_model.model.visual.blocks.14.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 159 |
+
"backbone.qwen_model.model.visual.blocks.14.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 160 |
+
"backbone.qwen_model.model.visual.blocks.14.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 161 |
+
"backbone.qwen_model.model.visual.blocks.14.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 162 |
+
"backbone.qwen_model.model.visual.blocks.14.norm1.bias": "model-00001-of-00003.safetensors",
|
| 163 |
+
"backbone.qwen_model.model.visual.blocks.14.norm1.weight": "model-00001-of-00003.safetensors",
|
| 164 |
+
"backbone.qwen_model.model.visual.blocks.14.norm2.bias": "model-00001-of-00003.safetensors",
|
| 165 |
+
"backbone.qwen_model.model.visual.blocks.14.norm2.weight": "model-00001-of-00003.safetensors",
|
| 166 |
+
"backbone.qwen_model.model.visual.blocks.15.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 167 |
+
"backbone.qwen_model.model.visual.blocks.15.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 168 |
+
"backbone.qwen_model.model.visual.blocks.15.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 169 |
+
"backbone.qwen_model.model.visual.blocks.15.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 170 |
+
"backbone.qwen_model.model.visual.blocks.15.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 171 |
+
"backbone.qwen_model.model.visual.blocks.15.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 172 |
+
"backbone.qwen_model.model.visual.blocks.15.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 173 |
+
"backbone.qwen_model.model.visual.blocks.15.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 174 |
+
"backbone.qwen_model.model.visual.blocks.15.norm1.bias": "model-00001-of-00003.safetensors",
|
| 175 |
+
"backbone.qwen_model.model.visual.blocks.15.norm1.weight": "model-00001-of-00003.safetensors",
|
| 176 |
+
"backbone.qwen_model.model.visual.blocks.15.norm2.bias": "model-00001-of-00003.safetensors",
|
| 177 |
+
"backbone.qwen_model.model.visual.blocks.15.norm2.weight": "model-00001-of-00003.safetensors",
|
| 178 |
+
"backbone.qwen_model.model.visual.blocks.16.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 179 |
+
"backbone.qwen_model.model.visual.blocks.16.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 180 |
+
"backbone.qwen_model.model.visual.blocks.16.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 181 |
+
"backbone.qwen_model.model.visual.blocks.16.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 182 |
+
"backbone.qwen_model.model.visual.blocks.16.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 183 |
+
"backbone.qwen_model.model.visual.blocks.16.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 184 |
+
"backbone.qwen_model.model.visual.blocks.16.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 185 |
+
"backbone.qwen_model.model.visual.blocks.16.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 186 |
+
"backbone.qwen_model.model.visual.blocks.16.norm1.bias": "model-00001-of-00003.safetensors",
|
| 187 |
+
"backbone.qwen_model.model.visual.blocks.16.norm1.weight": "model-00001-of-00003.safetensors",
|
| 188 |
+
"backbone.qwen_model.model.visual.blocks.16.norm2.bias": "model-00001-of-00003.safetensors",
|
| 189 |
+
"backbone.qwen_model.model.visual.blocks.16.norm2.weight": "model-00001-of-00003.safetensors",
|
| 190 |
+
"backbone.qwen_model.model.visual.blocks.17.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 191 |
+
"backbone.qwen_model.model.visual.blocks.17.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 192 |
+
"backbone.qwen_model.model.visual.blocks.17.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 193 |
+
"backbone.qwen_model.model.visual.blocks.17.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 194 |
+
"backbone.qwen_model.model.visual.blocks.17.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 195 |
+
"backbone.qwen_model.model.visual.blocks.17.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 196 |
+
"backbone.qwen_model.model.visual.blocks.17.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 197 |
+
"backbone.qwen_model.model.visual.blocks.17.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 198 |
+
"backbone.qwen_model.model.visual.blocks.17.norm1.bias": "model-00001-of-00003.safetensors",
|
| 199 |
+
"backbone.qwen_model.model.visual.blocks.17.norm1.weight": "model-00001-of-00003.safetensors",
|
| 200 |
+
"backbone.qwen_model.model.visual.blocks.17.norm2.bias": "model-00001-of-00003.safetensors",
|
| 201 |
+
"backbone.qwen_model.model.visual.blocks.17.norm2.weight": "model-00001-of-00003.safetensors",
|
| 202 |
+
"backbone.qwen_model.model.visual.blocks.18.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 203 |
+
"backbone.qwen_model.model.visual.blocks.18.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 204 |
+
"backbone.qwen_model.model.visual.blocks.18.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 205 |
+
"backbone.qwen_model.model.visual.blocks.18.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 206 |
+
"backbone.qwen_model.model.visual.blocks.18.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 207 |
+
"backbone.qwen_model.model.visual.blocks.18.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 208 |
+
"backbone.qwen_model.model.visual.blocks.18.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 209 |
+
"backbone.qwen_model.model.visual.blocks.18.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 210 |
+
"backbone.qwen_model.model.visual.blocks.18.norm1.bias": "model-00001-of-00003.safetensors",
|
| 211 |
+
"backbone.qwen_model.model.visual.blocks.18.norm1.weight": "model-00001-of-00003.safetensors",
|
| 212 |
+
"backbone.qwen_model.model.visual.blocks.18.norm2.bias": "model-00001-of-00003.safetensors",
|
| 213 |
+
"backbone.qwen_model.model.visual.blocks.18.norm2.weight": "model-00001-of-00003.safetensors",
|
| 214 |
+
"backbone.qwen_model.model.visual.blocks.19.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 215 |
+
"backbone.qwen_model.model.visual.blocks.19.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 216 |
+
"backbone.qwen_model.model.visual.blocks.19.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 217 |
+
"backbone.qwen_model.model.visual.blocks.19.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 218 |
+
"backbone.qwen_model.model.visual.blocks.19.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 219 |
+
"backbone.qwen_model.model.visual.blocks.19.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 220 |
+
"backbone.qwen_model.model.visual.blocks.19.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 221 |
+
"backbone.qwen_model.model.visual.blocks.19.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 222 |
+
"backbone.qwen_model.model.visual.blocks.19.norm1.bias": "model-00001-of-00003.safetensors",
|
| 223 |
+
"backbone.qwen_model.model.visual.blocks.19.norm1.weight": "model-00001-of-00003.safetensors",
|
| 224 |
+
"backbone.qwen_model.model.visual.blocks.19.norm2.bias": "model-00001-of-00003.safetensors",
|
| 225 |
+
"backbone.qwen_model.model.visual.blocks.19.norm2.weight": "model-00001-of-00003.safetensors",
|
| 226 |
+
"backbone.qwen_model.model.visual.blocks.2.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 227 |
+
"backbone.qwen_model.model.visual.blocks.2.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 228 |
+
"backbone.qwen_model.model.visual.blocks.2.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 229 |
+
"backbone.qwen_model.model.visual.blocks.2.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 230 |
+
"backbone.qwen_model.model.visual.blocks.2.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 231 |
+
"backbone.qwen_model.model.visual.blocks.2.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 232 |
+
"backbone.qwen_model.model.visual.blocks.2.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 233 |
+
"backbone.qwen_model.model.visual.blocks.2.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 234 |
+
"backbone.qwen_model.model.visual.blocks.2.norm1.bias": "model-00001-of-00003.safetensors",
|
| 235 |
+
"backbone.qwen_model.model.visual.blocks.2.norm1.weight": "model-00001-of-00003.safetensors",
|
| 236 |
+
"backbone.qwen_model.model.visual.blocks.2.norm2.bias": "model-00001-of-00003.safetensors",
|
| 237 |
+
"backbone.qwen_model.model.visual.blocks.2.norm2.weight": "model-00001-of-00003.safetensors",
|
| 238 |
+
"backbone.qwen_model.model.visual.blocks.20.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 239 |
+
"backbone.qwen_model.model.visual.blocks.20.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 240 |
+
"backbone.qwen_model.model.visual.blocks.20.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 241 |
+
"backbone.qwen_model.model.visual.blocks.20.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 242 |
+
"backbone.qwen_model.model.visual.blocks.20.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 243 |
+
"backbone.qwen_model.model.visual.blocks.20.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 244 |
+
"backbone.qwen_model.model.visual.blocks.20.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 245 |
+
"backbone.qwen_model.model.visual.blocks.20.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 246 |
+
"backbone.qwen_model.model.visual.blocks.20.norm1.bias": "model-00001-of-00003.safetensors",
|
| 247 |
+
"backbone.qwen_model.model.visual.blocks.20.norm1.weight": "model-00001-of-00003.safetensors",
|
| 248 |
+
"backbone.qwen_model.model.visual.blocks.20.norm2.bias": "model-00001-of-00003.safetensors",
|
| 249 |
+
"backbone.qwen_model.model.visual.blocks.20.norm2.weight": "model-00001-of-00003.safetensors",
|
| 250 |
+
"backbone.qwen_model.model.visual.blocks.21.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 251 |
+
"backbone.qwen_model.model.visual.blocks.21.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 252 |
+
"backbone.qwen_model.model.visual.blocks.21.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 253 |
+
"backbone.qwen_model.model.visual.blocks.21.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 254 |
+
"backbone.qwen_model.model.visual.blocks.21.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 255 |
+
"backbone.qwen_model.model.visual.blocks.21.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 256 |
+
"backbone.qwen_model.model.visual.blocks.21.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 257 |
+
"backbone.qwen_model.model.visual.blocks.21.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 258 |
+
"backbone.qwen_model.model.visual.blocks.21.norm1.bias": "model-00001-of-00003.safetensors",
|
| 259 |
+
"backbone.qwen_model.model.visual.blocks.21.norm1.weight": "model-00001-of-00003.safetensors",
|
| 260 |
+
"backbone.qwen_model.model.visual.blocks.21.norm2.bias": "model-00001-of-00003.safetensors",
|
| 261 |
+
"backbone.qwen_model.model.visual.blocks.21.norm2.weight": "model-00001-of-00003.safetensors",
|
| 262 |
+
"backbone.qwen_model.model.visual.blocks.22.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 263 |
+
"backbone.qwen_model.model.visual.blocks.22.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 264 |
+
"backbone.qwen_model.model.visual.blocks.22.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 265 |
+
"backbone.qwen_model.model.visual.blocks.22.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 266 |
+
"backbone.qwen_model.model.visual.blocks.22.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 267 |
+
"backbone.qwen_model.model.visual.blocks.22.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 268 |
+
"backbone.qwen_model.model.visual.blocks.22.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 269 |
+
"backbone.qwen_model.model.visual.blocks.22.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 270 |
+
"backbone.qwen_model.model.visual.blocks.22.norm1.bias": "model-00001-of-00003.safetensors",
|
| 271 |
+
"backbone.qwen_model.model.visual.blocks.22.norm1.weight": "model-00001-of-00003.safetensors",
|
| 272 |
+
"backbone.qwen_model.model.visual.blocks.22.norm2.bias": "model-00001-of-00003.safetensors",
|
| 273 |
+
"backbone.qwen_model.model.visual.blocks.22.norm2.weight": "model-00001-of-00003.safetensors",
|
| 274 |
+
"backbone.qwen_model.model.visual.blocks.23.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 275 |
+
"backbone.qwen_model.model.visual.blocks.23.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 276 |
+
"backbone.qwen_model.model.visual.blocks.23.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 277 |
+
"backbone.qwen_model.model.visual.blocks.23.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 278 |
+
"backbone.qwen_model.model.visual.blocks.23.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 279 |
+
"backbone.qwen_model.model.visual.blocks.23.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 280 |
+
"backbone.qwen_model.model.visual.blocks.23.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 281 |
+
"backbone.qwen_model.model.visual.blocks.23.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 282 |
+
"backbone.qwen_model.model.visual.blocks.23.norm1.bias": "model-00001-of-00003.safetensors",
|
| 283 |
+
"backbone.qwen_model.model.visual.blocks.23.norm1.weight": "model-00001-of-00003.safetensors",
|
| 284 |
+
"backbone.qwen_model.model.visual.blocks.23.norm2.bias": "model-00001-of-00003.safetensors",
|
| 285 |
+
"backbone.qwen_model.model.visual.blocks.23.norm2.weight": "model-00001-of-00003.safetensors",
|
| 286 |
+
"backbone.qwen_model.model.visual.blocks.24.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 287 |
+
"backbone.qwen_model.model.visual.blocks.24.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 288 |
+
"backbone.qwen_model.model.visual.blocks.24.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 289 |
+
"backbone.qwen_model.model.visual.blocks.24.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 290 |
+
"backbone.qwen_model.model.visual.blocks.24.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 291 |
+
"backbone.qwen_model.model.visual.blocks.24.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 292 |
+
"backbone.qwen_model.model.visual.blocks.24.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 293 |
+
"backbone.qwen_model.model.visual.blocks.24.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 294 |
+
"backbone.qwen_model.model.visual.blocks.24.norm1.bias": "model-00001-of-00003.safetensors",
|
| 295 |
+
"backbone.qwen_model.model.visual.blocks.24.norm1.weight": "model-00001-of-00003.safetensors",
|
| 296 |
+
"backbone.qwen_model.model.visual.blocks.24.norm2.bias": "model-00001-of-00003.safetensors",
|
| 297 |
+
"backbone.qwen_model.model.visual.blocks.24.norm2.weight": "model-00001-of-00003.safetensors",
|
| 298 |
+
"backbone.qwen_model.model.visual.blocks.25.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 299 |
+
"backbone.qwen_model.model.visual.blocks.25.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 300 |
+
"backbone.qwen_model.model.visual.blocks.25.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 301 |
+
"backbone.qwen_model.model.visual.blocks.25.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 302 |
+
"backbone.qwen_model.model.visual.blocks.25.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 303 |
+
"backbone.qwen_model.model.visual.blocks.25.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 304 |
+
"backbone.qwen_model.model.visual.blocks.25.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 305 |
+
"backbone.qwen_model.model.visual.blocks.25.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 306 |
+
"backbone.qwen_model.model.visual.blocks.25.norm1.bias": "model-00001-of-00003.safetensors",
|
| 307 |
+
"backbone.qwen_model.model.visual.blocks.25.norm1.weight": "model-00001-of-00003.safetensors",
|
| 308 |
+
"backbone.qwen_model.model.visual.blocks.25.norm2.bias": "model-00001-of-00003.safetensors",
|
| 309 |
+
"backbone.qwen_model.model.visual.blocks.25.norm2.weight": "model-00001-of-00003.safetensors",
|
| 310 |
+
"backbone.qwen_model.model.visual.blocks.26.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 311 |
+
"backbone.qwen_model.model.visual.blocks.26.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 312 |
+
"backbone.qwen_model.model.visual.blocks.26.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 313 |
+
"backbone.qwen_model.model.visual.blocks.26.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 314 |
+
"backbone.qwen_model.model.visual.blocks.26.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 315 |
+
"backbone.qwen_model.model.visual.blocks.26.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 316 |
+
"backbone.qwen_model.model.visual.blocks.26.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 317 |
+
"backbone.qwen_model.model.visual.blocks.26.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 318 |
+
"backbone.qwen_model.model.visual.blocks.26.norm1.bias": "model-00001-of-00003.safetensors",
|
| 319 |
+
"backbone.qwen_model.model.visual.blocks.26.norm1.weight": "model-00001-of-00003.safetensors",
|
| 320 |
+
"backbone.qwen_model.model.visual.blocks.26.norm2.bias": "model-00001-of-00003.safetensors",
|
| 321 |
+
"backbone.qwen_model.model.visual.blocks.26.norm2.weight": "model-00001-of-00003.safetensors",
|
| 322 |
+
"backbone.qwen_model.model.visual.blocks.3.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 323 |
+
"backbone.qwen_model.model.visual.blocks.3.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 324 |
+
"backbone.qwen_model.model.visual.blocks.3.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 325 |
+
"backbone.qwen_model.model.visual.blocks.3.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 326 |
+
"backbone.qwen_model.model.visual.blocks.3.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 327 |
+
"backbone.qwen_model.model.visual.blocks.3.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 328 |
+
"backbone.qwen_model.model.visual.blocks.3.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 329 |
+
"backbone.qwen_model.model.visual.blocks.3.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 330 |
+
"backbone.qwen_model.model.visual.blocks.3.norm1.bias": "model-00001-of-00003.safetensors",
|
| 331 |
+
"backbone.qwen_model.model.visual.blocks.3.norm1.weight": "model-00001-of-00003.safetensors",
|
| 332 |
+
"backbone.qwen_model.model.visual.blocks.3.norm2.bias": "model-00001-of-00003.safetensors",
|
| 333 |
+
"backbone.qwen_model.model.visual.blocks.3.norm2.weight": "model-00001-of-00003.safetensors",
|
| 334 |
+
"backbone.qwen_model.model.visual.blocks.4.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 335 |
+
"backbone.qwen_model.model.visual.blocks.4.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 336 |
+
"backbone.qwen_model.model.visual.blocks.4.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 337 |
+
"backbone.qwen_model.model.visual.blocks.4.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 338 |
+
"backbone.qwen_model.model.visual.blocks.4.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 339 |
+
"backbone.qwen_model.model.visual.blocks.4.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 340 |
+
"backbone.qwen_model.model.visual.blocks.4.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 341 |
+
"backbone.qwen_model.model.visual.blocks.4.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 342 |
+
"backbone.qwen_model.model.visual.blocks.4.norm1.bias": "model-00001-of-00003.safetensors",
|
| 343 |
+
"backbone.qwen_model.model.visual.blocks.4.norm1.weight": "model-00001-of-00003.safetensors",
|
| 344 |
+
"backbone.qwen_model.model.visual.blocks.4.norm2.bias": "model-00001-of-00003.safetensors",
|
| 345 |
+
"backbone.qwen_model.model.visual.blocks.4.norm2.weight": "model-00001-of-00003.safetensors",
|
| 346 |
+
"backbone.qwen_model.model.visual.blocks.5.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 347 |
+
"backbone.qwen_model.model.visual.blocks.5.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 348 |
+
"backbone.qwen_model.model.visual.blocks.5.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 349 |
+
"backbone.qwen_model.model.visual.blocks.5.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 350 |
+
"backbone.qwen_model.model.visual.blocks.5.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 351 |
+
"backbone.qwen_model.model.visual.blocks.5.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 352 |
+
"backbone.qwen_model.model.visual.blocks.5.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 353 |
+
"backbone.qwen_model.model.visual.blocks.5.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 354 |
+
"backbone.qwen_model.model.visual.blocks.5.norm1.bias": "model-00001-of-00003.safetensors",
|
| 355 |
+
"backbone.qwen_model.model.visual.blocks.5.norm1.weight": "model-00001-of-00003.safetensors",
|
| 356 |
+
"backbone.qwen_model.model.visual.blocks.5.norm2.bias": "model-00001-of-00003.safetensors",
|
| 357 |
+
"backbone.qwen_model.model.visual.blocks.5.norm2.weight": "model-00001-of-00003.safetensors",
|
| 358 |
+
"backbone.qwen_model.model.visual.blocks.6.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 359 |
+
"backbone.qwen_model.model.visual.blocks.6.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 360 |
+
"backbone.qwen_model.model.visual.blocks.6.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 361 |
+
"backbone.qwen_model.model.visual.blocks.6.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 362 |
+
"backbone.qwen_model.model.visual.blocks.6.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 363 |
+
"backbone.qwen_model.model.visual.blocks.6.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 364 |
+
"backbone.qwen_model.model.visual.blocks.6.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 365 |
+
"backbone.qwen_model.model.visual.blocks.6.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 366 |
+
"backbone.qwen_model.model.visual.blocks.6.norm1.bias": "model-00001-of-00003.safetensors",
|
| 367 |
+
"backbone.qwen_model.model.visual.blocks.6.norm1.weight": "model-00001-of-00003.safetensors",
|
| 368 |
+
"backbone.qwen_model.model.visual.blocks.6.norm2.bias": "model-00001-of-00003.safetensors",
|
| 369 |
+
"backbone.qwen_model.model.visual.blocks.6.norm2.weight": "model-00001-of-00003.safetensors",
|
| 370 |
+
"backbone.qwen_model.model.visual.blocks.7.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 371 |
+
"backbone.qwen_model.model.visual.blocks.7.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 372 |
+
"backbone.qwen_model.model.visual.blocks.7.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 373 |
+
"backbone.qwen_model.model.visual.blocks.7.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 374 |
+
"backbone.qwen_model.model.visual.blocks.7.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 375 |
+
"backbone.qwen_model.model.visual.blocks.7.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 376 |
+
"backbone.qwen_model.model.visual.blocks.7.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 377 |
+
"backbone.qwen_model.model.visual.blocks.7.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 378 |
+
"backbone.qwen_model.model.visual.blocks.7.norm1.bias": "model-00001-of-00003.safetensors",
|
| 379 |
+
"backbone.qwen_model.model.visual.blocks.7.norm1.weight": "model-00001-of-00003.safetensors",
|
| 380 |
+
"backbone.qwen_model.model.visual.blocks.7.norm2.bias": "model-00001-of-00003.safetensors",
|
| 381 |
+
"backbone.qwen_model.model.visual.blocks.7.norm2.weight": "model-00001-of-00003.safetensors",
|
| 382 |
+
"backbone.qwen_model.model.visual.blocks.8.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 383 |
+
"backbone.qwen_model.model.visual.blocks.8.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 384 |
+
"backbone.qwen_model.model.visual.blocks.8.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 385 |
+
"backbone.qwen_model.model.visual.blocks.8.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 386 |
+
"backbone.qwen_model.model.visual.blocks.8.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 387 |
+
"backbone.qwen_model.model.visual.blocks.8.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 388 |
+
"backbone.qwen_model.model.visual.blocks.8.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 389 |
+
"backbone.qwen_model.model.visual.blocks.8.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 390 |
+
"backbone.qwen_model.model.visual.blocks.8.norm1.bias": "model-00001-of-00003.safetensors",
|
| 391 |
+
"backbone.qwen_model.model.visual.blocks.8.norm1.weight": "model-00001-of-00003.safetensors",
|
| 392 |
+
"backbone.qwen_model.model.visual.blocks.8.norm2.bias": "model-00001-of-00003.safetensors",
|
| 393 |
+
"backbone.qwen_model.model.visual.blocks.8.norm2.weight": "model-00001-of-00003.safetensors",
|
| 394 |
+
"backbone.qwen_model.model.visual.blocks.9.attn.proj.bias": "model-00001-of-00003.safetensors",
|
| 395 |
+
"backbone.qwen_model.model.visual.blocks.9.attn.proj.weight": "model-00001-of-00003.safetensors",
|
| 396 |
+
"backbone.qwen_model.model.visual.blocks.9.attn.qkv.bias": "model-00001-of-00003.safetensors",
|
| 397 |
+
"backbone.qwen_model.model.visual.blocks.9.attn.qkv.weight": "model-00001-of-00003.safetensors",
|
| 398 |
+
"backbone.qwen_model.model.visual.blocks.9.mlp.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 399 |
+
"backbone.qwen_model.model.visual.blocks.9.mlp.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 400 |
+
"backbone.qwen_model.model.visual.blocks.9.mlp.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 401 |
+
"backbone.qwen_model.model.visual.blocks.9.mlp.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 402 |
+
"backbone.qwen_model.model.visual.blocks.9.norm1.bias": "model-00001-of-00003.safetensors",
|
| 403 |
+
"backbone.qwen_model.model.visual.blocks.9.norm1.weight": "model-00001-of-00003.safetensors",
|
| 404 |
+
"backbone.qwen_model.model.visual.blocks.9.norm2.bias": "model-00001-of-00003.safetensors",
|
| 405 |
+
"backbone.qwen_model.model.visual.blocks.9.norm2.weight": "model-00001-of-00003.safetensors",
|
| 406 |
+
"backbone.qwen_model.model.visual.deepstack_merger_list.0.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 407 |
+
"backbone.qwen_model.model.visual.deepstack_merger_list.0.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 408 |
+
"backbone.qwen_model.model.visual.deepstack_merger_list.0.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 409 |
+
"backbone.qwen_model.model.visual.deepstack_merger_list.0.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 410 |
+
"backbone.qwen_model.model.visual.deepstack_merger_list.0.norm.bias": "model-00001-of-00003.safetensors",
|
| 411 |
+
"backbone.qwen_model.model.visual.deepstack_merger_list.0.norm.weight": "model-00001-of-00003.safetensors",
|
| 412 |
+
"backbone.qwen_model.model.visual.deepstack_merger_list.1.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 413 |
+
"backbone.qwen_model.model.visual.deepstack_merger_list.1.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 414 |
+
"backbone.qwen_model.model.visual.deepstack_merger_list.1.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 415 |
+
"backbone.qwen_model.model.visual.deepstack_merger_list.1.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 416 |
+
"backbone.qwen_model.model.visual.deepstack_merger_list.1.norm.bias": "model-00001-of-00003.safetensors",
|
| 417 |
+
"backbone.qwen_model.model.visual.deepstack_merger_list.1.norm.weight": "model-00001-of-00003.safetensors",
|
| 418 |
+
"backbone.qwen_model.model.visual.deepstack_merger_list.2.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 419 |
+
"backbone.qwen_model.model.visual.deepstack_merger_list.2.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 420 |
+
"backbone.qwen_model.model.visual.deepstack_merger_list.2.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 421 |
+
"backbone.qwen_model.model.visual.deepstack_merger_list.2.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 422 |
+
"backbone.qwen_model.model.visual.deepstack_merger_list.2.norm.bias": "model-00001-of-00003.safetensors",
|
| 423 |
+
"backbone.qwen_model.model.visual.deepstack_merger_list.2.norm.weight": "model-00001-of-00003.safetensors",
|
| 424 |
+
"backbone.qwen_model.model.visual.merger.linear_fc1.bias": "model-00001-of-00003.safetensors",
|
| 425 |
+
"backbone.qwen_model.model.visual.merger.linear_fc1.weight": "model-00001-of-00003.safetensors",
|
| 426 |
+
"backbone.qwen_model.model.visual.merger.linear_fc2.bias": "model-00001-of-00003.safetensors",
|
| 427 |
+
"backbone.qwen_model.model.visual.merger.linear_fc2.weight": "model-00001-of-00003.safetensors",
|
| 428 |
+
"backbone.qwen_model.model.visual.merger.norm.bias": "model-00001-of-00003.safetensors",
|
| 429 |
+
"backbone.qwen_model.model.visual.merger.norm.weight": "model-00001-of-00003.safetensors",
|
| 430 |
+
"backbone.qwen_model.model.visual.patch_embed.proj.bias": "model-00001-of-00003.safetensors",
|
| 431 |
+
"backbone.qwen_model.model.visual.patch_embed.proj.weight": "model-00001-of-00003.safetensors",
|
| 432 |
+
"backbone.qwen_model.model.visual.pos_embed.weight": "model-00001-of-00003.safetensors",
|
| 433 |
+
"backbone.qwen_model.model.language_model.layers.10.layer.input_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 434 |
+
"backbone.qwen_model.model.language_model.layers.10.layer.mlp.down_proj.weight": "model-00002-of-00003.safetensors",
|
| 435 |
+
"backbone.qwen_model.model.language_model.layers.10.layer.mlp.gate_proj.weight": "model-00002-of-00003.safetensors",
|
| 436 |
+
"backbone.qwen_model.model.language_model.layers.10.layer.mlp.up_proj.weight": "model-00002-of-00003.safetensors",
|
| 437 |
+
"backbone.qwen_model.model.language_model.layers.10.layer.post_attention_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 438 |
+
"backbone.qwen_model.model.language_model.layers.10.layer.self_attn.k_norm.weight": "model-00002-of-00003.safetensors",
|
| 439 |
+
"backbone.qwen_model.model.language_model.layers.10.layer.self_attn.k_proj.weight": "model-00002-of-00003.safetensors",
|
| 440 |
+
"backbone.qwen_model.model.language_model.layers.10.layer.self_attn.o_proj.weight": "model-00002-of-00003.safetensors",
|
| 441 |
+
"backbone.qwen_model.model.language_model.layers.10.layer.self_attn.q_norm.weight": "model-00002-of-00003.safetensors",
|
| 442 |
+
"backbone.qwen_model.model.language_model.layers.10.layer.self_attn.q_proj.weight": "model-00002-of-00003.safetensors",
|
| 443 |
+
"backbone.qwen_model.model.language_model.layers.10.layer.self_attn.v_proj.weight": "model-00002-of-00003.safetensors",
|
| 444 |
+
"backbone.qwen_model.model.language_model.layers.11.layer.input_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 445 |
+
"backbone.qwen_model.model.language_model.layers.11.layer.mlp.down_proj.weight": "model-00002-of-00003.safetensors",
|
| 446 |
+
"backbone.qwen_model.model.language_model.layers.11.layer.mlp.gate_proj.weight": "model-00002-of-00003.safetensors",
|
| 447 |
+
"backbone.qwen_model.model.language_model.layers.11.layer.mlp.up_proj.weight": "model-00002-of-00003.safetensors",
|
| 448 |
+
"backbone.qwen_model.model.language_model.layers.11.layer.post_attention_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 449 |
+
"backbone.qwen_model.model.language_model.layers.11.layer.self_attn.k_norm.weight": "model-00002-of-00003.safetensors",
|
| 450 |
+
"backbone.qwen_model.model.language_model.layers.11.layer.self_attn.k_proj.weight": "model-00002-of-00003.safetensors",
|
| 451 |
+
"backbone.qwen_model.model.language_model.layers.11.layer.self_attn.o_proj.weight": "model-00002-of-00003.safetensors",
|
| 452 |
+
"backbone.qwen_model.model.language_model.layers.11.layer.self_attn.q_norm.weight": "model-00002-of-00003.safetensors",
|
| 453 |
+
"backbone.qwen_model.model.language_model.layers.11.layer.self_attn.q_proj.weight": "model-00002-of-00003.safetensors",
|
| 454 |
+
"backbone.qwen_model.model.language_model.layers.11.layer.self_attn.v_proj.weight": "model-00002-of-00003.safetensors",
|
| 455 |
+
"backbone.qwen_model.model.language_model.layers.12.layer.input_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 456 |
+
"backbone.qwen_model.model.language_model.layers.12.layer.mlp.down_proj.weight": "model-00002-of-00003.safetensors",
|
| 457 |
+
"backbone.qwen_model.model.language_model.layers.12.layer.mlp.gate_proj.weight": "model-00002-of-00003.safetensors",
|
| 458 |
+
"backbone.qwen_model.model.language_model.layers.12.layer.mlp.up_proj.weight": "model-00002-of-00003.safetensors",
|
| 459 |
+
"backbone.qwen_model.model.language_model.layers.12.layer.post_attention_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 460 |
+
"backbone.qwen_model.model.language_model.layers.12.layer.self_attn.k_norm.weight": "model-00002-of-00003.safetensors",
|
| 461 |
+
"backbone.qwen_model.model.language_model.layers.12.layer.self_attn.k_proj.weight": "model-00002-of-00003.safetensors",
|
| 462 |
+
"backbone.qwen_model.model.language_model.layers.12.layer.self_attn.o_proj.weight": "model-00002-of-00003.safetensors",
|
| 463 |
+
"backbone.qwen_model.model.language_model.layers.12.layer.self_attn.q_norm.weight": "model-00002-of-00003.safetensors",
|
| 464 |
+
"backbone.qwen_model.model.language_model.layers.12.layer.self_attn.q_proj.weight": "model-00002-of-00003.safetensors",
|
| 465 |
+
"backbone.qwen_model.model.language_model.layers.12.layer.self_attn.v_proj.weight": "model-00002-of-00003.safetensors",
|
| 466 |
+
"backbone.qwen_model.model.language_model.layers.13.layer.input_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 467 |
+
"backbone.qwen_model.model.language_model.layers.13.layer.mlp.down_proj.weight": "model-00002-of-00003.safetensors",
|
| 468 |
+
"backbone.qwen_model.model.language_model.layers.13.layer.mlp.gate_proj.weight": "model-00002-of-00003.safetensors",
|
| 469 |
+
"backbone.qwen_model.model.language_model.layers.13.layer.mlp.up_proj.weight": "model-00002-of-00003.safetensors",
|
| 470 |
+
"backbone.qwen_model.model.language_model.layers.13.layer.post_attention_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 471 |
+
"backbone.qwen_model.model.language_model.layers.13.layer.self_attn.k_norm.weight": "model-00002-of-00003.safetensors",
|
| 472 |
+
"backbone.qwen_model.model.language_model.layers.13.layer.self_attn.k_proj.weight": "model-00002-of-00003.safetensors",
|
| 473 |
+
"backbone.qwen_model.model.language_model.layers.13.layer.self_attn.o_proj.weight": "model-00002-of-00003.safetensors",
|
| 474 |
+
"backbone.qwen_model.model.language_model.layers.13.layer.self_attn.q_norm.weight": "model-00002-of-00003.safetensors",
|
| 475 |
+
"backbone.qwen_model.model.language_model.layers.13.layer.self_attn.q_proj.weight": "model-00002-of-00003.safetensors",
|
| 476 |
+
"backbone.qwen_model.model.language_model.layers.13.layer.self_attn.v_proj.weight": "model-00002-of-00003.safetensors",
|
| 477 |
+
"backbone.qwen_model.model.language_model.layers.14.layer.input_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 478 |
+
"backbone.qwen_model.model.language_model.layers.14.layer.mlp.down_proj.weight": "model-00002-of-00003.safetensors",
|
| 479 |
+
"backbone.qwen_model.model.language_model.layers.14.layer.mlp.gate_proj.weight": "model-00002-of-00003.safetensors",
|
| 480 |
+
"backbone.qwen_model.model.language_model.layers.14.layer.mlp.up_proj.weight": "model-00002-of-00003.safetensors",
|
| 481 |
+
"backbone.qwen_model.model.language_model.layers.14.layer.post_attention_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 482 |
+
"backbone.qwen_model.model.language_model.layers.14.layer.self_attn.k_norm.weight": "model-00002-of-00003.safetensors",
|
| 483 |
+
"backbone.qwen_model.model.language_model.layers.14.layer.self_attn.k_proj.weight": "model-00002-of-00003.safetensors",
|
| 484 |
+
"backbone.qwen_model.model.language_model.layers.14.layer.self_attn.o_proj.weight": "model-00002-of-00003.safetensors",
|
| 485 |
+
"backbone.qwen_model.model.language_model.layers.14.layer.self_attn.q_norm.weight": "model-00002-of-00003.safetensors",
|
| 486 |
+
"backbone.qwen_model.model.language_model.layers.14.layer.self_attn.q_proj.weight": "model-00002-of-00003.safetensors",
|
| 487 |
+
"backbone.qwen_model.model.language_model.layers.14.layer.self_attn.v_proj.weight": "model-00002-of-00003.safetensors",
|
| 488 |
+
"backbone.qwen_model.model.language_model.layers.15.layer.input_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 489 |
+
"backbone.qwen_model.model.language_model.layers.15.layer.mlp.down_proj.weight": "model-00002-of-00003.safetensors",
|
| 490 |
+
"backbone.qwen_model.model.language_model.layers.15.layer.mlp.gate_proj.weight": "model-00002-of-00003.safetensors",
|
| 491 |
+
"backbone.qwen_model.model.language_model.layers.15.layer.mlp.up_proj.weight": "model-00002-of-00003.safetensors",
|
| 492 |
+
"backbone.qwen_model.model.language_model.layers.15.layer.post_attention_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 493 |
+
"backbone.qwen_model.model.language_model.layers.15.layer.self_attn.k_norm.weight": "model-00002-of-00003.safetensors",
|
| 494 |
+
"backbone.qwen_model.model.language_model.layers.15.layer.self_attn.k_proj.weight": "model-00002-of-00003.safetensors",
|
| 495 |
+
"backbone.qwen_model.model.language_model.layers.15.layer.self_attn.o_proj.weight": "model-00002-of-00003.safetensors",
|
| 496 |
+
"backbone.qwen_model.model.language_model.layers.15.layer.self_attn.q_norm.weight": "model-00002-of-00003.safetensors",
|
| 497 |
+
"backbone.qwen_model.model.language_model.layers.15.layer.self_attn.q_proj.weight": "model-00002-of-00003.safetensors",
|
| 498 |
+
"backbone.qwen_model.model.language_model.layers.15.layer.self_attn.v_proj.weight": "model-00002-of-00003.safetensors",
|
| 499 |
+
"backbone.qwen_model.model.language_model.layers.16.layer.input_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 500 |
+
"backbone.qwen_model.model.language_model.layers.16.layer.mlp.down_proj.weight": "model-00002-of-00003.safetensors",
|
| 501 |
+
"backbone.qwen_model.model.language_model.layers.16.layer.mlp.gate_proj.weight": "model-00002-of-00003.safetensors",
|
| 502 |
+
"backbone.qwen_model.model.language_model.layers.16.layer.mlp.up_proj.weight": "model-00002-of-00003.safetensors",
|
| 503 |
+
"backbone.qwen_model.model.language_model.layers.16.layer.post_attention_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 504 |
+
"backbone.qwen_model.model.language_model.layers.16.layer.self_attn.k_norm.weight": "model-00002-of-00003.safetensors",
|
| 505 |
+
"backbone.qwen_model.model.language_model.layers.16.layer.self_attn.k_proj.weight": "model-00002-of-00003.safetensors",
|
| 506 |
+
"backbone.qwen_model.model.language_model.layers.16.layer.self_attn.o_proj.weight": "model-00002-of-00003.safetensors",
|
| 507 |
+
"backbone.qwen_model.model.language_model.layers.16.layer.self_attn.q_norm.weight": "model-00002-of-00003.safetensors",
|
| 508 |
+
"backbone.qwen_model.model.language_model.layers.16.layer.self_attn.q_proj.weight": "model-00002-of-00003.safetensors",
|
| 509 |
+
"backbone.qwen_model.model.language_model.layers.16.layer.self_attn.v_proj.weight": "model-00002-of-00003.safetensors",
|
| 510 |
+
"backbone.qwen_model.model.language_model.layers.17.layer.input_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 511 |
+
"backbone.qwen_model.model.language_model.layers.17.layer.mlp.down_proj.weight": "model-00002-of-00003.safetensors",
|
| 512 |
+
"backbone.qwen_model.model.language_model.layers.17.layer.mlp.gate_proj.weight": "model-00002-of-00003.safetensors",
|
| 513 |
+
"backbone.qwen_model.model.language_model.layers.17.layer.mlp.up_proj.weight": "model-00002-of-00003.safetensors",
|
| 514 |
+
"backbone.qwen_model.model.language_model.layers.17.layer.post_attention_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 515 |
+
"backbone.qwen_model.model.language_model.layers.17.layer.self_attn.k_norm.weight": "model-00002-of-00003.safetensors",
|
| 516 |
+
"backbone.qwen_model.model.language_model.layers.17.layer.self_attn.k_proj.weight": "model-00002-of-00003.safetensors",
|
| 517 |
+
"backbone.qwen_model.model.language_model.layers.17.layer.self_attn.o_proj.weight": "model-00002-of-00003.safetensors",
|
| 518 |
+
"backbone.qwen_model.model.language_model.layers.17.layer.self_attn.q_norm.weight": "model-00002-of-00003.safetensors",
|
| 519 |
+
"backbone.qwen_model.model.language_model.layers.17.layer.self_attn.q_proj.weight": "model-00002-of-00003.safetensors",
|
| 520 |
+
"backbone.qwen_model.model.language_model.layers.17.layer.self_attn.v_proj.weight": "model-00002-of-00003.safetensors",
|
| 521 |
+
"backbone.qwen_model.model.language_model.layers.6.layer.input_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 522 |
+
"backbone.qwen_model.model.language_model.layers.6.layer.mlp.down_proj.weight": "model-00002-of-00003.safetensors",
|
| 523 |
+
"backbone.qwen_model.model.language_model.layers.6.layer.mlp.up_proj.weight": "model-00002-of-00003.safetensors",
|
| 524 |
+
"backbone.qwen_model.model.language_model.layers.6.layer.post_attention_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 525 |
+
"backbone.qwen_model.model.language_model.layers.7.layer.input_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 526 |
+
"backbone.qwen_model.model.language_model.layers.7.layer.mlp.down_proj.weight": "model-00002-of-00003.safetensors",
|
| 527 |
+
"backbone.qwen_model.model.language_model.layers.7.layer.mlp.gate_proj.weight": "model-00002-of-00003.safetensors",
|
| 528 |
+
"backbone.qwen_model.model.language_model.layers.7.layer.mlp.up_proj.weight": "model-00002-of-00003.safetensors",
|
| 529 |
+
"backbone.qwen_model.model.language_model.layers.7.layer.post_attention_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 530 |
+
"backbone.qwen_model.model.language_model.layers.7.layer.self_attn.k_norm.weight": "model-00002-of-00003.safetensors",
|
| 531 |
+
"backbone.qwen_model.model.language_model.layers.7.layer.self_attn.k_proj.weight": "model-00002-of-00003.safetensors",
|
| 532 |
+
"backbone.qwen_model.model.language_model.layers.7.layer.self_attn.o_proj.weight": "model-00002-of-00003.safetensors",
|
| 533 |
+
"backbone.qwen_model.model.language_model.layers.7.layer.self_attn.q_norm.weight": "model-00002-of-00003.safetensors",
|
| 534 |
+
"backbone.qwen_model.model.language_model.layers.7.layer.self_attn.q_proj.weight": "model-00002-of-00003.safetensors",
|
| 535 |
+
"backbone.qwen_model.model.language_model.layers.7.layer.self_attn.v_proj.weight": "model-00002-of-00003.safetensors",
|
| 536 |
+
"backbone.qwen_model.model.language_model.layers.8.layer.input_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 537 |
+
"backbone.qwen_model.model.language_model.layers.8.layer.mlp.down_proj.weight": "model-00002-of-00003.safetensors",
|
| 538 |
+
"backbone.qwen_model.model.language_model.layers.8.layer.mlp.gate_proj.weight": "model-00002-of-00003.safetensors",
|
| 539 |
+
"backbone.qwen_model.model.language_model.layers.8.layer.mlp.up_proj.weight": "model-00002-of-00003.safetensors",
|
| 540 |
+
"backbone.qwen_model.model.language_model.layers.8.layer.post_attention_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 541 |
+
"backbone.qwen_model.model.language_model.layers.8.layer.self_attn.k_norm.weight": "model-00002-of-00003.safetensors",
|
| 542 |
+
"backbone.qwen_model.model.language_model.layers.8.layer.self_attn.k_proj.weight": "model-00002-of-00003.safetensors",
|
| 543 |
+
"backbone.qwen_model.model.language_model.layers.8.layer.self_attn.o_proj.weight": "model-00002-of-00003.safetensors",
|
| 544 |
+
"backbone.qwen_model.model.language_model.layers.8.layer.self_attn.q_norm.weight": "model-00002-of-00003.safetensors",
|
| 545 |
+
"backbone.qwen_model.model.language_model.layers.8.layer.self_attn.q_proj.weight": "model-00002-of-00003.safetensors",
|
| 546 |
+
"backbone.qwen_model.model.language_model.layers.8.layer.self_attn.v_proj.weight": "model-00002-of-00003.safetensors",
|
| 547 |
+
"backbone.qwen_model.model.language_model.layers.9.layer.input_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 548 |
+
"backbone.qwen_model.model.language_model.layers.9.layer.mlp.down_proj.weight": "model-00002-of-00003.safetensors",
|
| 549 |
+
"backbone.qwen_model.model.language_model.layers.9.layer.mlp.gate_proj.weight": "model-00002-of-00003.safetensors",
|
| 550 |
+
"backbone.qwen_model.model.language_model.layers.9.layer.mlp.up_proj.weight": "model-00002-of-00003.safetensors",
|
| 551 |
+
"backbone.qwen_model.model.language_model.layers.9.layer.post_attention_layernorm.weight": "model-00002-of-00003.safetensors",
|
| 552 |
+
"backbone.qwen_model.model.language_model.layers.9.layer.self_attn.k_norm.weight": "model-00002-of-00003.safetensors",
|
| 553 |
+
"backbone.qwen_model.model.language_model.layers.9.layer.self_attn.k_proj.weight": "model-00002-of-00003.safetensors",
|
| 554 |
+
"backbone.qwen_model.model.language_model.layers.9.layer.self_attn.o_proj.weight": "model-00002-of-00003.safetensors",
|
| 555 |
+
"backbone.qwen_model.model.language_model.layers.9.layer.self_attn.q_norm.weight": "model-00002-of-00003.safetensors",
|
| 556 |
+
"backbone.qwen_model.model.language_model.layers.9.layer.self_attn.q_proj.weight": "model-00002-of-00003.safetensors",
|
| 557 |
+
"backbone.qwen_model.model.language_model.layers.9.layer.self_attn.v_proj.weight": "model-00002-of-00003.safetensors",
|
| 558 |
+
"backbone.qwen_model.model.language_model.norm.weight": "model-00002-of-00003.safetensors",
|
| 559 |
+
"action_model.action_decoder.layer1.W": "model-00003-of-00003.safetensors",
|
| 560 |
+
"action_model.action_decoder.layer1.b": "model-00003-of-00003.safetensors",
|
| 561 |
+
"action_model.action_decoder.layer2.W": "model-00003-of-00003.safetensors",
|
| 562 |
+
"action_model.action_decoder.layer2.b": "model-00003-of-00003.safetensors",
|
| 563 |
+
"action_model.action_encoder.W1.W": "model-00003-of-00003.safetensors",
|
| 564 |
+
"action_model.action_encoder.W1.b": "model-00003-of-00003.safetensors",
|
| 565 |
+
"action_model.action_encoder.W2.W": "model-00003-of-00003.safetensors",
|
| 566 |
+
"action_model.action_encoder.W2.b": "model-00003-of-00003.safetensors",
|
| 567 |
+
"action_model.action_encoder.W3.W": "model-00003-of-00003.safetensors",
|
| 568 |
+
"action_model.action_encoder.W3.b": "model-00003-of-00003.safetensors",
|
| 569 |
+
"action_model.model.double_blocks.0.k_norm_sa.weight": "model-00003-of-00003.safetensors",
|
| 570 |
+
"action_model.model.double_blocks.0.k_norm_vl.weight": "model-00003-of-00003.safetensors",
|
| 571 |
+
"action_model.model.double_blocks.0.q_norm_sa.weight": "model-00003-of-00003.safetensors",
|
| 572 |
+
"action_model.model.double_blocks.0.q_norm_vl.weight": "model-00003-of-00003.safetensors",
|
| 573 |
+
"action_model.model.double_blocks.0.sa_mlp.w12.bias": "model-00003-of-00003.safetensors",
|
| 574 |
+
"action_model.model.double_blocks.0.sa_mlp.w12.weight": "model-00003-of-00003.safetensors",
|
| 575 |
+
"action_model.model.double_blocks.0.sa_mlp.w3.bias": "model-00003-of-00003.safetensors",
|
| 576 |
+
"action_model.model.double_blocks.0.sa_mlp.w3.weight": "model-00003-of-00003.safetensors",
|
| 577 |
+
"action_model.model.double_blocks.0.sa_proj.bias": "model-00003-of-00003.safetensors",
|
| 578 |
+
"action_model.model.double_blocks.0.sa_proj.weight": "model-00003-of-00003.safetensors",
|
| 579 |
+
"action_model.model.double_blocks.0.sa_qkv.bias": "model-00003-of-00003.safetensors",
|
| 580 |
+
"action_model.model.double_blocks.0.sa_qkv.weight": "model-00003-of-00003.safetensors",
|
| 581 |
+
"action_model.model.double_blocks.0.vl_mlp.w12.bias": "model-00003-of-00003.safetensors",
|
| 582 |
+
"action_model.model.double_blocks.0.vl_mlp.w12.weight": "model-00003-of-00003.safetensors",
|
| 583 |
+
"action_model.model.double_blocks.0.vl_mlp.w3.bias": "model-00003-of-00003.safetensors",
|
| 584 |
+
"action_model.model.double_blocks.0.vl_mlp.w3.weight": "model-00003-of-00003.safetensors",
|
| 585 |
+
"action_model.model.double_blocks.0.vl_proj.bias": "model-00003-of-00003.safetensors",
|
| 586 |
+
"action_model.model.double_blocks.0.vl_proj.weight": "model-00003-of-00003.safetensors",
|
| 587 |
+
"action_model.model.double_blocks.0.vl_qkv.bias": "model-00003-of-00003.safetensors",
|
| 588 |
+
"action_model.model.double_blocks.0.vl_qkv.weight": "model-00003-of-00003.safetensors",
|
| 589 |
+
"action_model.model.double_blocks.1.k_norm_sa.weight": "model-00003-of-00003.safetensors",
|
| 590 |
+
"action_model.model.double_blocks.1.k_norm_vl.weight": "model-00003-of-00003.safetensors",
|
| 591 |
+
"action_model.model.double_blocks.1.q_norm_sa.weight": "model-00003-of-00003.safetensors",
|
| 592 |
+
"action_model.model.double_blocks.1.q_norm_vl.weight": "model-00003-of-00003.safetensors",
|
| 593 |
+
"action_model.model.double_blocks.1.sa_mlp.w12.bias": "model-00003-of-00003.safetensors",
|
| 594 |
+
"action_model.model.double_blocks.1.sa_mlp.w12.weight": "model-00003-of-00003.safetensors",
|
| 595 |
+
"action_model.model.double_blocks.1.sa_mlp.w3.bias": "model-00003-of-00003.safetensors",
|
| 596 |
+
"action_model.model.double_blocks.1.sa_mlp.w3.weight": "model-00003-of-00003.safetensors",
|
| 597 |
+
"action_model.model.double_blocks.1.sa_proj.bias": "model-00003-of-00003.safetensors",
|
| 598 |
+
"action_model.model.double_blocks.1.sa_proj.weight": "model-00003-of-00003.safetensors",
|
| 599 |
+
"action_model.model.double_blocks.1.sa_qkv.bias": "model-00003-of-00003.safetensors",
|
| 600 |
+
"action_model.model.double_blocks.1.sa_qkv.weight": "model-00003-of-00003.safetensors",
|
| 601 |
+
"action_model.model.double_blocks.1.vl_mlp.w12.bias": "model-00003-of-00003.safetensors",
|
| 602 |
+
"action_model.model.double_blocks.1.vl_mlp.w12.weight": "model-00003-of-00003.safetensors",
|
| 603 |
+
"action_model.model.double_blocks.1.vl_mlp.w3.bias": "model-00003-of-00003.safetensors",
|
| 604 |
+
"action_model.model.double_blocks.1.vl_mlp.w3.weight": "model-00003-of-00003.safetensors",
|
| 605 |
+
"action_model.model.double_blocks.1.vl_proj.bias": "model-00003-of-00003.safetensors",
|
| 606 |
+
"action_model.model.double_blocks.1.vl_proj.weight": "model-00003-of-00003.safetensors",
|
| 607 |
+
"action_model.model.double_blocks.1.vl_qkv.bias": "model-00003-of-00003.safetensors",
|
| 608 |
+
"action_model.model.double_blocks.1.vl_qkv.weight": "model-00003-of-00003.safetensors",
|
| 609 |
+
"action_model.model.double_blocks.2.k_norm_sa.weight": "model-00003-of-00003.safetensors",
|
| 610 |
+
"action_model.model.double_blocks.2.k_norm_vl.weight": "model-00003-of-00003.safetensors",
|
| 611 |
+
"action_model.model.double_blocks.2.q_norm_sa.weight": "model-00003-of-00003.safetensors",
|
| 612 |
+
"action_model.model.double_blocks.2.q_norm_vl.weight": "model-00003-of-00003.safetensors",
|
| 613 |
+
"action_model.model.double_blocks.2.sa_mlp.w12.bias": "model-00003-of-00003.safetensors",
|
| 614 |
+
"action_model.model.double_blocks.2.sa_mlp.w12.weight": "model-00003-of-00003.safetensors",
|
| 615 |
+
"action_model.model.double_blocks.2.sa_mlp.w3.bias": "model-00003-of-00003.safetensors",
|
| 616 |
+
"action_model.model.double_blocks.2.sa_mlp.w3.weight": "model-00003-of-00003.safetensors",
|
| 617 |
+
"action_model.model.double_blocks.2.sa_proj.bias": "model-00003-of-00003.safetensors",
|
| 618 |
+
"action_model.model.double_blocks.2.sa_proj.weight": "model-00003-of-00003.safetensors",
|
| 619 |
+
"action_model.model.double_blocks.2.sa_qkv.bias": "model-00003-of-00003.safetensors",
|
| 620 |
+
"action_model.model.double_blocks.2.sa_qkv.weight": "model-00003-of-00003.safetensors",
|
| 621 |
+
"action_model.model.double_blocks.2.vl_mlp.w12.bias": "model-00003-of-00003.safetensors",
|
| 622 |
+
"action_model.model.double_blocks.2.vl_mlp.w12.weight": "model-00003-of-00003.safetensors",
|
| 623 |
+
"action_model.model.double_blocks.2.vl_mlp.w3.bias": "model-00003-of-00003.safetensors",
|
| 624 |
+
"action_model.model.double_blocks.2.vl_mlp.w3.weight": "model-00003-of-00003.safetensors",
|
| 625 |
+
"action_model.model.double_blocks.2.vl_proj.bias": "model-00003-of-00003.safetensors",
|
| 626 |
+
"action_model.model.double_blocks.2.vl_proj.weight": "model-00003-of-00003.safetensors",
|
| 627 |
+
"action_model.model.double_blocks.2.vl_qkv.bias": "model-00003-of-00003.safetensors",
|
| 628 |
+
"action_model.model.double_blocks.2.vl_qkv.weight": "model-00003-of-00003.safetensors",
|
| 629 |
+
"action_model.model.double_blocks.3.k_norm_sa.weight": "model-00003-of-00003.safetensors",
|
| 630 |
+
"action_model.model.double_blocks.3.k_norm_vl.weight": "model-00003-of-00003.safetensors",
|
| 631 |
+
"action_model.model.double_blocks.3.q_norm_sa.weight": "model-00003-of-00003.safetensors",
|
| 632 |
+
"action_model.model.double_blocks.3.q_norm_vl.weight": "model-00003-of-00003.safetensors",
|
| 633 |
+
"action_model.model.double_blocks.3.sa_mlp.w12.bias": "model-00003-of-00003.safetensors",
|
| 634 |
+
"action_model.model.double_blocks.3.sa_mlp.w12.weight": "model-00003-of-00003.safetensors",
|
| 635 |
+
"action_model.model.double_blocks.3.sa_mlp.w3.bias": "model-00003-of-00003.safetensors",
|
| 636 |
+
"action_model.model.double_blocks.3.sa_mlp.w3.weight": "model-00003-of-00003.safetensors",
|
| 637 |
+
"action_model.model.double_blocks.3.sa_proj.bias": "model-00003-of-00003.safetensors",
|
| 638 |
+
"action_model.model.double_blocks.3.sa_proj.weight": "model-00003-of-00003.safetensors",
|
| 639 |
+
"action_model.model.double_blocks.3.sa_qkv.bias": "model-00003-of-00003.safetensors",
|
| 640 |
+
"action_model.model.double_blocks.3.sa_qkv.weight": "model-00003-of-00003.safetensors",
|
| 641 |
+
"action_model.model.double_blocks.3.vl_mlp.w12.bias": "model-00003-of-00003.safetensors",
|
| 642 |
+
"action_model.model.double_blocks.3.vl_mlp.w12.weight": "model-00003-of-00003.safetensors",
|
| 643 |
+
"action_model.model.double_blocks.3.vl_mlp.w3.bias": "model-00003-of-00003.safetensors",
|
| 644 |
+
"action_model.model.double_blocks.3.vl_mlp.w3.weight": "model-00003-of-00003.safetensors",
|
| 645 |
+
"action_model.model.double_blocks.3.vl_proj.bias": "model-00003-of-00003.safetensors",
|
| 646 |
+
"action_model.model.double_blocks.3.vl_proj.weight": "model-00003-of-00003.safetensors",
|
| 647 |
+
"action_model.model.double_blocks.3.vl_qkv.bias": "model-00003-of-00003.safetensors",
|
| 648 |
+
"action_model.model.double_blocks.3.vl_qkv.weight": "model-00003-of-00003.safetensors",
|
| 649 |
+
"action_model.model.proj_out_1.bias": "model-00003-of-00003.safetensors",
|
| 650 |
+
"action_model.model.proj_out_1.weight": "model-00003-of-00003.safetensors",
|
| 651 |
+
"action_model.model.proj_out_2.bias": "model-00003-of-00003.safetensors",
|
| 652 |
+
"action_model.model.proj_out_2.weight": "model-00003-of-00003.safetensors",
|
| 653 |
+
"action_model.model.single_blocks.0.k_norm.weight": "model-00003-of-00003.safetensors",
|
| 654 |
+
"action_model.model.single_blocks.0.linear1.bias": "model-00003-of-00003.safetensors",
|
| 655 |
+
"action_model.model.single_blocks.0.linear1.weight": "model-00003-of-00003.safetensors",
|
| 656 |
+
"action_model.model.single_blocks.0.linear2.bias": "model-00003-of-00003.safetensors",
|
| 657 |
+
"action_model.model.single_blocks.0.linear2.weight": "model-00003-of-00003.safetensors",
|
| 658 |
+
"action_model.model.single_blocks.0.mlp_proj.bias": "model-00003-of-00003.safetensors",
|
| 659 |
+
"action_model.model.single_blocks.0.mlp_proj.weight": "model-00003-of-00003.safetensors",
|
| 660 |
+
"action_model.model.single_blocks.0.q_norm.weight": "model-00003-of-00003.safetensors",
|
| 661 |
+
"action_model.model.single_blocks.1.k_norm.weight": "model-00003-of-00003.safetensors",
|
| 662 |
+
"action_model.model.single_blocks.1.linear1.bias": "model-00003-of-00003.safetensors",
|
| 663 |
+
"action_model.model.single_blocks.1.linear1.weight": "model-00003-of-00003.safetensors",
|
| 664 |
+
"action_model.model.single_blocks.1.linear2.bias": "model-00003-of-00003.safetensors",
|
| 665 |
+
"action_model.model.single_blocks.1.linear2.weight": "model-00003-of-00003.safetensors",
|
| 666 |
+
"action_model.model.single_blocks.1.mlp_proj.bias": "model-00003-of-00003.safetensors",
|
| 667 |
+
"action_model.model.single_blocks.1.mlp_proj.weight": "model-00003-of-00003.safetensors",
|
| 668 |
+
"action_model.model.single_blocks.1.q_norm.weight": "model-00003-of-00003.safetensors",
|
| 669 |
+
"action_model.model.single_blocks.2.k_norm.weight": "model-00003-of-00003.safetensors",
|
| 670 |
+
"action_model.model.single_blocks.2.linear1.bias": "model-00003-of-00003.safetensors",
|
| 671 |
+
"action_model.model.single_blocks.2.linear1.weight": "model-00003-of-00003.safetensors",
|
| 672 |
+
"action_model.model.single_blocks.2.linear2.bias": "model-00003-of-00003.safetensors",
|
| 673 |
+
"action_model.model.single_blocks.2.linear2.weight": "model-00003-of-00003.safetensors",
|
| 674 |
+
"action_model.model.single_blocks.2.mlp_proj.bias": "model-00003-of-00003.safetensors",
|
| 675 |
+
"action_model.model.single_blocks.2.mlp_proj.weight": "model-00003-of-00003.safetensors",
|
| 676 |
+
"action_model.model.single_blocks.2.q_norm.weight": "model-00003-of-00003.safetensors",
|
| 677 |
+
"action_model.model.single_blocks.3.k_norm.weight": "model-00003-of-00003.safetensors",
|
| 678 |
+
"action_model.model.single_blocks.3.linear1.bias": "model-00003-of-00003.safetensors",
|
| 679 |
+
"action_model.model.single_blocks.3.linear1.weight": "model-00003-of-00003.safetensors",
|
| 680 |
+
"action_model.model.single_blocks.3.linear2.bias": "model-00003-of-00003.safetensors",
|
| 681 |
+
"action_model.model.single_blocks.3.linear2.weight": "model-00003-of-00003.safetensors",
|
| 682 |
+
"action_model.model.single_blocks.3.mlp_proj.bias": "model-00003-of-00003.safetensors",
|
| 683 |
+
"action_model.model.single_blocks.3.mlp_proj.weight": "model-00003-of-00003.safetensors",
|
| 684 |
+
"action_model.model.single_blocks.3.q_norm.weight": "model-00003-of-00003.safetensors",
|
| 685 |
+
"action_model.model.single_blocks.4.k_norm.weight": "model-00003-of-00003.safetensors",
|
| 686 |
+
"action_model.model.single_blocks.4.linear1.bias": "model-00003-of-00003.safetensors",
|
| 687 |
+
"action_model.model.single_blocks.4.linear1.weight": "model-00003-of-00003.safetensors",
|
| 688 |
+
"action_model.model.single_blocks.4.linear2.bias": "model-00003-of-00003.safetensors",
|
| 689 |
+
"action_model.model.single_blocks.4.linear2.weight": "model-00003-of-00003.safetensors",
|
| 690 |
+
"action_model.model.single_blocks.4.mlp_proj.bias": "model-00003-of-00003.safetensors",
|
| 691 |
+
"action_model.model.single_blocks.4.mlp_proj.weight": "model-00003-of-00003.safetensors",
|
| 692 |
+
"action_model.model.single_blocks.4.q_norm.weight": "model-00003-of-00003.safetensors",
|
| 693 |
+
"action_model.model.single_blocks.5.k_norm.weight": "model-00003-of-00003.safetensors",
|
| 694 |
+
"action_model.model.single_blocks.5.linear1.bias": "model-00003-of-00003.safetensors",
|
| 695 |
+
"action_model.model.single_blocks.5.linear1.weight": "model-00003-of-00003.safetensors",
|
| 696 |
+
"action_model.model.single_blocks.5.linear2.bias": "model-00003-of-00003.safetensors",
|
| 697 |
+
"action_model.model.single_blocks.5.linear2.weight": "model-00003-of-00003.safetensors",
|
| 698 |
+
"action_model.model.single_blocks.5.mlp_proj.bias": "model-00003-of-00003.safetensors",
|
| 699 |
+
"action_model.model.single_blocks.5.mlp_proj.weight": "model-00003-of-00003.safetensors",
|
| 700 |
+
"action_model.model.single_blocks.5.q_norm.weight": "model-00003-of-00003.safetensors",
|
| 701 |
+
"action_model.model.single_blocks.6.k_norm.weight": "model-00003-of-00003.safetensors",
|
| 702 |
+
"action_model.model.single_blocks.6.linear1.bias": "model-00003-of-00003.safetensors",
|
| 703 |
+
"action_model.model.single_blocks.6.linear1.weight": "model-00003-of-00003.safetensors",
|
| 704 |
+
"action_model.model.single_blocks.6.linear2.bias": "model-00003-of-00003.safetensors",
|
| 705 |
+
"action_model.model.single_blocks.6.linear2.weight": "model-00003-of-00003.safetensors",
|
| 706 |
+
"action_model.model.single_blocks.6.mlp_proj.bias": "model-00003-of-00003.safetensors",
|
| 707 |
+
"action_model.model.single_blocks.6.mlp_proj.weight": "model-00003-of-00003.safetensors",
|
| 708 |
+
"action_model.model.single_blocks.6.q_norm.weight": "model-00003-of-00003.safetensors",
|
| 709 |
+
"action_model.model.single_blocks.7.k_norm.weight": "model-00003-of-00003.safetensors",
|
| 710 |
+
"action_model.model.single_blocks.7.linear1.bias": "model-00003-of-00003.safetensors",
|
| 711 |
+
"action_model.model.single_blocks.7.linear1.weight": "model-00003-of-00003.safetensors",
|
| 712 |
+
"action_model.model.single_blocks.7.linear2.bias": "model-00003-of-00003.safetensors",
|
| 713 |
+
"action_model.model.single_blocks.7.linear2.weight": "model-00003-of-00003.safetensors",
|
| 714 |
+
"action_model.model.single_blocks.7.mlp_proj.bias": "model-00003-of-00003.safetensors",
|
| 715 |
+
"action_model.model.single_blocks.7.mlp_proj.weight": "model-00003-of-00003.safetensors",
|
| 716 |
+
"action_model.model.single_blocks.7.q_norm.weight": "model-00003-of-00003.safetensors",
|
| 717 |
+
"action_model.model.timestep_encoder.timestep_embedder.linear_1.bias": "model-00003-of-00003.safetensors",
|
| 718 |
+
"action_model.model.timestep_encoder.timestep_embedder.linear_1.weight": "model-00003-of-00003.safetensors",
|
| 719 |
+
"action_model.model.timestep_encoder.timestep_embedder.linear_2.bias": "model-00003-of-00003.safetensors",
|
| 720 |
+
"action_model.model.timestep_encoder.timestep_embedder.linear_2.weight": "model-00003-of-00003.safetensors",
|
| 721 |
+
"action_model.model.vl_proj_to_sa.bias": "model-00003-of-00003.safetensors",
|
| 722 |
+
"action_model.model.vl_proj_to_sa.weight": "model-00003-of-00003.safetensors",
|
| 723 |
+
"action_model.position_embedding.weight": "model-00003-of-00003.safetensors",
|
| 724 |
+
"action_model.state_encoder.layer1.W": "model-00003-of-00003.safetensors",
|
| 725 |
+
"action_model.state_encoder.layer1.b": "model-00003-of-00003.safetensors",
|
| 726 |
+
"action_model.state_encoder.layer2.W": "model-00003-of-00003.safetensors",
|
| 727 |
+
"action_model.state_encoder.layer2.b": "model-00003-of-00003.safetensors",
|
| 728 |
+
"backbone.qwen_model.lm_head.weight": "model-00003-of-00003.safetensors"
|
| 729 |
+
}
|
| 730 |
+
}
|
processor_config.json
ADDED
|
@@ -0,0 +1,2975 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"processor_class": "RLDXProcessor",
|
| 3 |
+
"processor_kwargs": {
|
| 4 |
+
"modality_configs": {
|
| 5 |
+
"bridge_orig": {
|
| 6 |
+
"video": {
|
| 7 |
+
"delta_indices": [
|
| 8 |
+
-6,
|
| 9 |
+
-4,
|
| 10 |
+
-2,
|
| 11 |
+
0
|
| 12 |
+
],
|
| 13 |
+
"modality_keys": [
|
| 14 |
+
"image_0"
|
| 15 |
+
],
|
| 16 |
+
"sin_cos_embedding_keys": null,
|
| 17 |
+
"mean_std_embedding_keys": null,
|
| 18 |
+
"action_configs": null
|
| 19 |
+
},
|
| 20 |
+
"state": {
|
| 21 |
+
"delta_indices": [
|
| 22 |
+
0
|
| 23 |
+
],
|
| 24 |
+
"modality_keys": [
|
| 25 |
+
"end_effector_position",
|
| 26 |
+
"end_effector_rotation",
|
| 27 |
+
"gripper_position"
|
| 28 |
+
],
|
| 29 |
+
"sin_cos_embedding_keys": null,
|
| 30 |
+
"mean_std_embedding_keys": null,
|
| 31 |
+
"action_configs": null
|
| 32 |
+
},
|
| 33 |
+
"action": {
|
| 34 |
+
"delta_indices": [
|
| 35 |
+
0,
|
| 36 |
+
1,
|
| 37 |
+
2,
|
| 38 |
+
3,
|
| 39 |
+
4,
|
| 40 |
+
5,
|
| 41 |
+
6,
|
| 42 |
+
7,
|
| 43 |
+
8,
|
| 44 |
+
9,
|
| 45 |
+
10,
|
| 46 |
+
11,
|
| 47 |
+
12,
|
| 48 |
+
13,
|
| 49 |
+
14,
|
| 50 |
+
15
|
| 51 |
+
],
|
| 52 |
+
"modality_keys": [
|
| 53 |
+
"end_effector_position",
|
| 54 |
+
"end_effector_rotation",
|
| 55 |
+
"gripper_close"
|
| 56 |
+
],
|
| 57 |
+
"sin_cos_embedding_keys": null,
|
| 58 |
+
"mean_std_embedding_keys": null,
|
| 59 |
+
"action_configs": [
|
| 60 |
+
{
|
| 61 |
+
"rep": "DELTA",
|
| 62 |
+
"type": "EEF",
|
| 63 |
+
"format": "DEFAULT",
|
| 64 |
+
"state_key": null
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"rep": "DELTA",
|
| 68 |
+
"type": "EEF",
|
| 69 |
+
"format": "DEFAULT",
|
| 70 |
+
"state_key": null
|
| 71 |
+
},
|
| 72 |
+
{
|
| 73 |
+
"rep": "ABSOLUTE",
|
| 74 |
+
"type": "NON_EEF",
|
| 75 |
+
"format": "DEFAULT",
|
| 76 |
+
"state_key": null
|
| 77 |
+
}
|
| 78 |
+
]
|
| 79 |
+
},
|
| 80 |
+
"language": {
|
| 81 |
+
"delta_indices": [
|
| 82 |
+
0
|
| 83 |
+
],
|
| 84 |
+
"modality_keys": [
|
| 85 |
+
"annotation.human.action.task_description"
|
| 86 |
+
],
|
| 87 |
+
"sin_cos_embedding_keys": null,
|
| 88 |
+
"mean_std_embedding_keys": null,
|
| 89 |
+
"action_configs": null
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
"iamlab_cmu_pickup_insert_converted_externally_to_rlds": {
|
| 93 |
+
"video": {
|
| 94 |
+
"delta_indices": [
|
| 95 |
+
-6,
|
| 96 |
+
-4,
|
| 97 |
+
-2,
|
| 98 |
+
0
|
| 99 |
+
],
|
| 100 |
+
"modality_keys": [
|
| 101 |
+
"primary",
|
| 102 |
+
"wrist"
|
| 103 |
+
],
|
| 104 |
+
"sin_cos_embedding_keys": null,
|
| 105 |
+
"mean_std_embedding_keys": null,
|
| 106 |
+
"action_configs": null
|
| 107 |
+
},
|
| 108 |
+
"state": {
|
| 109 |
+
"delta_indices": [
|
| 110 |
+
0
|
| 111 |
+
],
|
| 112 |
+
"modality_keys": [
|
| 113 |
+
"end_effector_position",
|
| 114 |
+
"end_effector_rotation",
|
| 115 |
+
"gripper_position"
|
| 116 |
+
],
|
| 117 |
+
"sin_cos_embedding_keys": null,
|
| 118 |
+
"mean_std_embedding_keys": null,
|
| 119 |
+
"action_configs": null
|
| 120 |
+
},
|
| 121 |
+
"action": {
|
| 122 |
+
"delta_indices": [
|
| 123 |
+
0,
|
| 124 |
+
1,
|
| 125 |
+
2,
|
| 126 |
+
3,
|
| 127 |
+
4,
|
| 128 |
+
5,
|
| 129 |
+
6,
|
| 130 |
+
7,
|
| 131 |
+
8,
|
| 132 |
+
9,
|
| 133 |
+
10,
|
| 134 |
+
11,
|
| 135 |
+
12,
|
| 136 |
+
13,
|
| 137 |
+
14,
|
| 138 |
+
15
|
| 139 |
+
],
|
| 140 |
+
"modality_keys": [
|
| 141 |
+
"end_effector_position",
|
| 142 |
+
"end_effector_rotation",
|
| 143 |
+
"gripper_close"
|
| 144 |
+
],
|
| 145 |
+
"sin_cos_embedding_keys": null,
|
| 146 |
+
"mean_std_embedding_keys": null,
|
| 147 |
+
"action_configs": [
|
| 148 |
+
{
|
| 149 |
+
"rep": "DELTA",
|
| 150 |
+
"type": "EEF",
|
| 151 |
+
"format": "DEFAULT",
|
| 152 |
+
"state_key": null
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"rep": "DELTA",
|
| 156 |
+
"type": "EEF",
|
| 157 |
+
"format": "DEFAULT",
|
| 158 |
+
"state_key": null
|
| 159 |
+
},
|
| 160 |
+
{
|
| 161 |
+
"rep": "ABSOLUTE",
|
| 162 |
+
"type": "NON_EEF",
|
| 163 |
+
"format": "DEFAULT",
|
| 164 |
+
"state_key": null
|
| 165 |
+
}
|
| 166 |
+
]
|
| 167 |
+
},
|
| 168 |
+
"language": {
|
| 169 |
+
"delta_indices": [
|
| 170 |
+
0
|
| 171 |
+
],
|
| 172 |
+
"modality_keys": [
|
| 173 |
+
"annotation.human.action.task_description"
|
| 174 |
+
],
|
| 175 |
+
"sin_cos_embedding_keys": null,
|
| 176 |
+
"mean_std_embedding_keys": null,
|
| 177 |
+
"action_configs": null
|
| 178 |
+
}
|
| 179 |
+
},
|
| 180 |
+
"humanoid_everyday_g1": {
|
| 181 |
+
"video": {
|
| 182 |
+
"delta_indices": [
|
| 183 |
+
-6,
|
| 184 |
+
-4,
|
| 185 |
+
-2,
|
| 186 |
+
0
|
| 187 |
+
],
|
| 188 |
+
"modality_keys": [
|
| 189 |
+
"egocentric_resized"
|
| 190 |
+
],
|
| 191 |
+
"sin_cos_embedding_keys": null,
|
| 192 |
+
"mean_std_embedding_keys": null,
|
| 193 |
+
"action_configs": null
|
| 194 |
+
},
|
| 195 |
+
"state": {
|
| 196 |
+
"delta_indices": [
|
| 197 |
+
0
|
| 198 |
+
],
|
| 199 |
+
"modality_keys": [
|
| 200 |
+
"left_arm",
|
| 201 |
+
"left_hand",
|
| 202 |
+
"right_arm",
|
| 203 |
+
"right_hand"
|
| 204 |
+
],
|
| 205 |
+
"sin_cos_embedding_keys": null,
|
| 206 |
+
"mean_std_embedding_keys": null,
|
| 207 |
+
"action_configs": null
|
| 208 |
+
},
|
| 209 |
+
"action": {
|
| 210 |
+
"delta_indices": [
|
| 211 |
+
0,
|
| 212 |
+
1,
|
| 213 |
+
2,
|
| 214 |
+
3,
|
| 215 |
+
4,
|
| 216 |
+
5,
|
| 217 |
+
6,
|
| 218 |
+
7,
|
| 219 |
+
8,
|
| 220 |
+
9,
|
| 221 |
+
10,
|
| 222 |
+
11,
|
| 223 |
+
12,
|
| 224 |
+
13,
|
| 225 |
+
14,
|
| 226 |
+
15
|
| 227 |
+
],
|
| 228 |
+
"modality_keys": [
|
| 229 |
+
"left_arm",
|
| 230 |
+
"left_hand",
|
| 231 |
+
"right_arm",
|
| 232 |
+
"right_hand"
|
| 233 |
+
],
|
| 234 |
+
"sin_cos_embedding_keys": null,
|
| 235 |
+
"mean_std_embedding_keys": null,
|
| 236 |
+
"action_configs": [
|
| 237 |
+
{
|
| 238 |
+
"rep": "ABSOLUTE",
|
| 239 |
+
"type": "NON_EEF",
|
| 240 |
+
"format": "DEFAULT",
|
| 241 |
+
"state_key": null
|
| 242 |
+
},
|
| 243 |
+
{
|
| 244 |
+
"rep": "ABSOLUTE",
|
| 245 |
+
"type": "NON_EEF",
|
| 246 |
+
"format": "DEFAULT",
|
| 247 |
+
"state_key": null
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"rep": "ABSOLUTE",
|
| 251 |
+
"type": "NON_EEF",
|
| 252 |
+
"format": "DEFAULT",
|
| 253 |
+
"state_key": null
|
| 254 |
+
},
|
| 255 |
+
{
|
| 256 |
+
"rep": "ABSOLUTE",
|
| 257 |
+
"type": "NON_EEF",
|
| 258 |
+
"format": "DEFAULT",
|
| 259 |
+
"state_key": null
|
| 260 |
+
}
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
"language": {
|
| 264 |
+
"delta_indices": [
|
| 265 |
+
0
|
| 266 |
+
],
|
| 267 |
+
"modality_keys": [
|
| 268 |
+
"annotation.human.action.task_description"
|
| 269 |
+
],
|
| 270 |
+
"sin_cos_embedding_keys": null,
|
| 271 |
+
"mean_std_embedding_keys": null,
|
| 272 |
+
"action_configs": null
|
| 273 |
+
}
|
| 274 |
+
},
|
| 275 |
+
"dlr_edan_shared_control_converted_externally_to_rlds": {
|
| 276 |
+
"video": {
|
| 277 |
+
"delta_indices": [
|
| 278 |
+
-6,
|
| 279 |
+
-4,
|
| 280 |
+
-2,
|
| 281 |
+
0
|
| 282 |
+
],
|
| 283 |
+
"modality_keys": [
|
| 284 |
+
"primary"
|
| 285 |
+
],
|
| 286 |
+
"sin_cos_embedding_keys": null,
|
| 287 |
+
"mean_std_embedding_keys": null,
|
| 288 |
+
"action_configs": null
|
| 289 |
+
},
|
| 290 |
+
"state": {
|
| 291 |
+
"delta_indices": [
|
| 292 |
+
0
|
| 293 |
+
],
|
| 294 |
+
"modality_keys": [
|
| 295 |
+
"end_effector_position",
|
| 296 |
+
"end_effector_rotation",
|
| 297 |
+
"gripper_position"
|
| 298 |
+
],
|
| 299 |
+
"sin_cos_embedding_keys": null,
|
| 300 |
+
"mean_std_embedding_keys": null,
|
| 301 |
+
"action_configs": null
|
| 302 |
+
},
|
| 303 |
+
"action": {
|
| 304 |
+
"delta_indices": [
|
| 305 |
+
0,
|
| 306 |
+
1,
|
| 307 |
+
2,
|
| 308 |
+
3,
|
| 309 |
+
4,
|
| 310 |
+
5,
|
| 311 |
+
6,
|
| 312 |
+
7,
|
| 313 |
+
8,
|
| 314 |
+
9,
|
| 315 |
+
10,
|
| 316 |
+
11,
|
| 317 |
+
12,
|
| 318 |
+
13,
|
| 319 |
+
14,
|
| 320 |
+
15
|
| 321 |
+
],
|
| 322 |
+
"modality_keys": [
|
| 323 |
+
"end_effector_position",
|
| 324 |
+
"end_effector_rotation",
|
| 325 |
+
"gripper_close"
|
| 326 |
+
],
|
| 327 |
+
"sin_cos_embedding_keys": null,
|
| 328 |
+
"mean_std_embedding_keys": null,
|
| 329 |
+
"action_configs": [
|
| 330 |
+
{
|
| 331 |
+
"rep": "DELTA",
|
| 332 |
+
"type": "EEF",
|
| 333 |
+
"format": "DEFAULT",
|
| 334 |
+
"state_key": null
|
| 335 |
+
},
|
| 336 |
+
{
|
| 337 |
+
"rep": "DELTA",
|
| 338 |
+
"type": "EEF",
|
| 339 |
+
"format": "DEFAULT",
|
| 340 |
+
"state_key": null
|
| 341 |
+
},
|
| 342 |
+
{
|
| 343 |
+
"rep": "ABSOLUTE",
|
| 344 |
+
"type": "NON_EEF",
|
| 345 |
+
"format": "DEFAULT",
|
| 346 |
+
"state_key": null
|
| 347 |
+
}
|
| 348 |
+
]
|
| 349 |
+
},
|
| 350 |
+
"language": {
|
| 351 |
+
"delta_indices": [
|
| 352 |
+
0
|
| 353 |
+
],
|
| 354 |
+
"modality_keys": [
|
| 355 |
+
"annotation.human.action.task_description"
|
| 356 |
+
],
|
| 357 |
+
"sin_cos_embedding_keys": null,
|
| 358 |
+
"mean_std_embedding_keys": null,
|
| 359 |
+
"action_configs": null
|
| 360 |
+
}
|
| 361 |
+
},
|
| 362 |
+
"austin_sailor_dataset_converted_externally_to_rlds": {
|
| 363 |
+
"video": {
|
| 364 |
+
"delta_indices": [
|
| 365 |
+
-6,
|
| 366 |
+
-4,
|
| 367 |
+
-2,
|
| 368 |
+
0
|
| 369 |
+
],
|
| 370 |
+
"modality_keys": [
|
| 371 |
+
"primary",
|
| 372 |
+
"wrist"
|
| 373 |
+
],
|
| 374 |
+
"sin_cos_embedding_keys": null,
|
| 375 |
+
"mean_std_embedding_keys": null,
|
| 376 |
+
"action_configs": null
|
| 377 |
+
},
|
| 378 |
+
"state": {
|
| 379 |
+
"delta_indices": [
|
| 380 |
+
0
|
| 381 |
+
],
|
| 382 |
+
"modality_keys": [
|
| 383 |
+
"end_effector_position",
|
| 384 |
+
"end_effector_rotation",
|
| 385 |
+
"gripper_position"
|
| 386 |
+
],
|
| 387 |
+
"sin_cos_embedding_keys": null,
|
| 388 |
+
"mean_std_embedding_keys": null,
|
| 389 |
+
"action_configs": null
|
| 390 |
+
},
|
| 391 |
+
"action": {
|
| 392 |
+
"delta_indices": [
|
| 393 |
+
0,
|
| 394 |
+
1,
|
| 395 |
+
2,
|
| 396 |
+
3,
|
| 397 |
+
4,
|
| 398 |
+
5,
|
| 399 |
+
6,
|
| 400 |
+
7,
|
| 401 |
+
8,
|
| 402 |
+
9,
|
| 403 |
+
10,
|
| 404 |
+
11,
|
| 405 |
+
12,
|
| 406 |
+
13,
|
| 407 |
+
14,
|
| 408 |
+
15
|
| 409 |
+
],
|
| 410 |
+
"modality_keys": [
|
| 411 |
+
"end_effector_position",
|
| 412 |
+
"end_effector_rotation",
|
| 413 |
+
"gripper_close"
|
| 414 |
+
],
|
| 415 |
+
"sin_cos_embedding_keys": null,
|
| 416 |
+
"mean_std_embedding_keys": null,
|
| 417 |
+
"action_configs": [
|
| 418 |
+
{
|
| 419 |
+
"rep": "DELTA",
|
| 420 |
+
"type": "EEF",
|
| 421 |
+
"format": "DEFAULT",
|
| 422 |
+
"state_key": null
|
| 423 |
+
},
|
| 424 |
+
{
|
| 425 |
+
"rep": "DELTA",
|
| 426 |
+
"type": "EEF",
|
| 427 |
+
"format": "DEFAULT",
|
| 428 |
+
"state_key": null
|
| 429 |
+
},
|
| 430 |
+
{
|
| 431 |
+
"rep": "ABSOLUTE",
|
| 432 |
+
"type": "NON_EEF",
|
| 433 |
+
"format": "DEFAULT",
|
| 434 |
+
"state_key": null
|
| 435 |
+
}
|
| 436 |
+
]
|
| 437 |
+
},
|
| 438 |
+
"language": {
|
| 439 |
+
"delta_indices": [
|
| 440 |
+
0
|
| 441 |
+
],
|
| 442 |
+
"modality_keys": [
|
| 443 |
+
"annotation.human.action.task_description"
|
| 444 |
+
],
|
| 445 |
+
"sin_cos_embedding_keys": null,
|
| 446 |
+
"mean_std_embedding_keys": null,
|
| 447 |
+
"action_configs": null
|
| 448 |
+
}
|
| 449 |
+
},
|
| 450 |
+
"berkeley_autolab_ur5": {
|
| 451 |
+
"video": {
|
| 452 |
+
"delta_indices": [
|
| 453 |
+
-6,
|
| 454 |
+
-4,
|
| 455 |
+
-2,
|
| 456 |
+
0
|
| 457 |
+
],
|
| 458 |
+
"modality_keys": [
|
| 459 |
+
"primary",
|
| 460 |
+
"wrist"
|
| 461 |
+
],
|
| 462 |
+
"sin_cos_embedding_keys": null,
|
| 463 |
+
"mean_std_embedding_keys": null,
|
| 464 |
+
"action_configs": null
|
| 465 |
+
},
|
| 466 |
+
"state": {
|
| 467 |
+
"delta_indices": [
|
| 468 |
+
0
|
| 469 |
+
],
|
| 470 |
+
"modality_keys": [
|
| 471 |
+
"end_effector_position",
|
| 472 |
+
"end_effector_rotation",
|
| 473 |
+
"gripper_position"
|
| 474 |
+
],
|
| 475 |
+
"sin_cos_embedding_keys": null,
|
| 476 |
+
"mean_std_embedding_keys": null,
|
| 477 |
+
"action_configs": null
|
| 478 |
+
},
|
| 479 |
+
"action": {
|
| 480 |
+
"delta_indices": [
|
| 481 |
+
0,
|
| 482 |
+
1,
|
| 483 |
+
2,
|
| 484 |
+
3,
|
| 485 |
+
4,
|
| 486 |
+
5,
|
| 487 |
+
6,
|
| 488 |
+
7,
|
| 489 |
+
8,
|
| 490 |
+
9,
|
| 491 |
+
10,
|
| 492 |
+
11,
|
| 493 |
+
12,
|
| 494 |
+
13,
|
| 495 |
+
14,
|
| 496 |
+
15
|
| 497 |
+
],
|
| 498 |
+
"modality_keys": [
|
| 499 |
+
"end_effector_position",
|
| 500 |
+
"end_effector_rotation",
|
| 501 |
+
"gripper_close"
|
| 502 |
+
],
|
| 503 |
+
"sin_cos_embedding_keys": null,
|
| 504 |
+
"mean_std_embedding_keys": null,
|
| 505 |
+
"action_configs": [
|
| 506 |
+
{
|
| 507 |
+
"rep": "DELTA",
|
| 508 |
+
"type": "EEF",
|
| 509 |
+
"format": "DEFAULT",
|
| 510 |
+
"state_key": null
|
| 511 |
+
},
|
| 512 |
+
{
|
| 513 |
+
"rep": "DELTA",
|
| 514 |
+
"type": "EEF",
|
| 515 |
+
"format": "DEFAULT",
|
| 516 |
+
"state_key": null
|
| 517 |
+
},
|
| 518 |
+
{
|
| 519 |
+
"rep": "ABSOLUTE",
|
| 520 |
+
"type": "NON_EEF",
|
| 521 |
+
"format": "DEFAULT",
|
| 522 |
+
"state_key": null
|
| 523 |
+
}
|
| 524 |
+
]
|
| 525 |
+
},
|
| 526 |
+
"language": {
|
| 527 |
+
"delta_indices": [
|
| 528 |
+
0
|
| 529 |
+
],
|
| 530 |
+
"modality_keys": [
|
| 531 |
+
"annotation.human.action.task_description"
|
| 532 |
+
],
|
| 533 |
+
"sin_cos_embedding_keys": null,
|
| 534 |
+
"mean_std_embedding_keys": null,
|
| 535 |
+
"action_configs": null
|
| 536 |
+
}
|
| 537 |
+
},
|
| 538 |
+
"fractal20220817_data": {
|
| 539 |
+
"video": {
|
| 540 |
+
"delta_indices": [
|
| 541 |
+
-6,
|
| 542 |
+
-4,
|
| 543 |
+
-2,
|
| 544 |
+
0
|
| 545 |
+
],
|
| 546 |
+
"modality_keys": [
|
| 547 |
+
"primary"
|
| 548 |
+
],
|
| 549 |
+
"sin_cos_embedding_keys": null,
|
| 550 |
+
"mean_std_embedding_keys": null,
|
| 551 |
+
"action_configs": null
|
| 552 |
+
},
|
| 553 |
+
"state": {
|
| 554 |
+
"delta_indices": [
|
| 555 |
+
0
|
| 556 |
+
],
|
| 557 |
+
"modality_keys": [
|
| 558 |
+
"end_effector_position",
|
| 559 |
+
"end_effector_rotation",
|
| 560 |
+
"gripper_position"
|
| 561 |
+
],
|
| 562 |
+
"sin_cos_embedding_keys": null,
|
| 563 |
+
"mean_std_embedding_keys": null,
|
| 564 |
+
"action_configs": null
|
| 565 |
+
},
|
| 566 |
+
"action": {
|
| 567 |
+
"delta_indices": [
|
| 568 |
+
0,
|
| 569 |
+
1,
|
| 570 |
+
2,
|
| 571 |
+
3,
|
| 572 |
+
4,
|
| 573 |
+
5,
|
| 574 |
+
6,
|
| 575 |
+
7,
|
| 576 |
+
8,
|
| 577 |
+
9,
|
| 578 |
+
10,
|
| 579 |
+
11,
|
| 580 |
+
12,
|
| 581 |
+
13,
|
| 582 |
+
14,
|
| 583 |
+
15
|
| 584 |
+
],
|
| 585 |
+
"modality_keys": [
|
| 586 |
+
"end_effector_position",
|
| 587 |
+
"end_effector_rotation",
|
| 588 |
+
"gripper_close"
|
| 589 |
+
],
|
| 590 |
+
"sin_cos_embedding_keys": null,
|
| 591 |
+
"mean_std_embedding_keys": null,
|
| 592 |
+
"action_configs": [
|
| 593 |
+
{
|
| 594 |
+
"rep": "DELTA",
|
| 595 |
+
"type": "EEF",
|
| 596 |
+
"format": "DEFAULT",
|
| 597 |
+
"state_key": null
|
| 598 |
+
},
|
| 599 |
+
{
|
| 600 |
+
"rep": "DELTA",
|
| 601 |
+
"type": "EEF",
|
| 602 |
+
"format": "DEFAULT",
|
| 603 |
+
"state_key": null
|
| 604 |
+
},
|
| 605 |
+
{
|
| 606 |
+
"rep": "ABSOLUTE",
|
| 607 |
+
"type": "NON_EEF",
|
| 608 |
+
"format": "DEFAULT",
|
| 609 |
+
"state_key": null
|
| 610 |
+
}
|
| 611 |
+
]
|
| 612 |
+
},
|
| 613 |
+
"language": {
|
| 614 |
+
"delta_indices": [
|
| 615 |
+
0
|
| 616 |
+
],
|
| 617 |
+
"modality_keys": [
|
| 618 |
+
"annotation.human.action.task_description"
|
| 619 |
+
],
|
| 620 |
+
"sin_cos_embedding_keys": null,
|
| 621 |
+
"mean_std_embedding_keys": null,
|
| 622 |
+
"action_configs": null
|
| 623 |
+
}
|
| 624 |
+
},
|
| 625 |
+
"cmu_stretch": {
|
| 626 |
+
"video": {
|
| 627 |
+
"delta_indices": [
|
| 628 |
+
-6,
|
| 629 |
+
-4,
|
| 630 |
+
-2,
|
| 631 |
+
0
|
| 632 |
+
],
|
| 633 |
+
"modality_keys": [
|
| 634 |
+
"primary"
|
| 635 |
+
],
|
| 636 |
+
"sin_cos_embedding_keys": null,
|
| 637 |
+
"mean_std_embedding_keys": null,
|
| 638 |
+
"action_configs": null
|
| 639 |
+
},
|
| 640 |
+
"state": {
|
| 641 |
+
"delta_indices": [
|
| 642 |
+
0
|
| 643 |
+
],
|
| 644 |
+
"modality_keys": [
|
| 645 |
+
"end_effector_position",
|
| 646 |
+
"end_effector_rotation",
|
| 647 |
+
"gripper_position"
|
| 648 |
+
],
|
| 649 |
+
"sin_cos_embedding_keys": null,
|
| 650 |
+
"mean_std_embedding_keys": null,
|
| 651 |
+
"action_configs": null
|
| 652 |
+
},
|
| 653 |
+
"action": {
|
| 654 |
+
"delta_indices": [
|
| 655 |
+
0,
|
| 656 |
+
1,
|
| 657 |
+
2,
|
| 658 |
+
3,
|
| 659 |
+
4,
|
| 660 |
+
5,
|
| 661 |
+
6,
|
| 662 |
+
7,
|
| 663 |
+
8,
|
| 664 |
+
9,
|
| 665 |
+
10,
|
| 666 |
+
11,
|
| 667 |
+
12,
|
| 668 |
+
13,
|
| 669 |
+
14,
|
| 670 |
+
15
|
| 671 |
+
],
|
| 672 |
+
"modality_keys": [
|
| 673 |
+
"end_effector_position",
|
| 674 |
+
"end_effector_rotation",
|
| 675 |
+
"gripper_close"
|
| 676 |
+
],
|
| 677 |
+
"sin_cos_embedding_keys": null,
|
| 678 |
+
"mean_std_embedding_keys": null,
|
| 679 |
+
"action_configs": [
|
| 680 |
+
{
|
| 681 |
+
"rep": "DELTA",
|
| 682 |
+
"type": "EEF",
|
| 683 |
+
"format": "DEFAULT",
|
| 684 |
+
"state_key": null
|
| 685 |
+
},
|
| 686 |
+
{
|
| 687 |
+
"rep": "DELTA",
|
| 688 |
+
"type": "EEF",
|
| 689 |
+
"format": "DEFAULT",
|
| 690 |
+
"state_key": null
|
| 691 |
+
},
|
| 692 |
+
{
|
| 693 |
+
"rep": "ABSOLUTE",
|
| 694 |
+
"type": "NON_EEF",
|
| 695 |
+
"format": "DEFAULT",
|
| 696 |
+
"state_key": null
|
| 697 |
+
}
|
| 698 |
+
]
|
| 699 |
+
},
|
| 700 |
+
"language": {
|
| 701 |
+
"delta_indices": [
|
| 702 |
+
0
|
| 703 |
+
],
|
| 704 |
+
"modality_keys": [
|
| 705 |
+
"annotation.human.action.task_description"
|
| 706 |
+
],
|
| 707 |
+
"sin_cos_embedding_keys": null,
|
| 708 |
+
"mean_std_embedding_keys": null,
|
| 709 |
+
"action_configs": null
|
| 710 |
+
}
|
| 711 |
+
},
|
| 712 |
+
"berkeley_cable_routing": {
|
| 713 |
+
"video": {
|
| 714 |
+
"delta_indices": [
|
| 715 |
+
-6,
|
| 716 |
+
-4,
|
| 717 |
+
-2,
|
| 718 |
+
0
|
| 719 |
+
],
|
| 720 |
+
"modality_keys": [
|
| 721 |
+
"primary",
|
| 722 |
+
"secondary",
|
| 723 |
+
"wrist"
|
| 724 |
+
],
|
| 725 |
+
"sin_cos_embedding_keys": null,
|
| 726 |
+
"mean_std_embedding_keys": null,
|
| 727 |
+
"action_configs": null
|
| 728 |
+
},
|
| 729 |
+
"state": {
|
| 730 |
+
"delta_indices": [
|
| 731 |
+
0
|
| 732 |
+
],
|
| 733 |
+
"modality_keys": [
|
| 734 |
+
"joint_position"
|
| 735 |
+
],
|
| 736 |
+
"sin_cos_embedding_keys": null,
|
| 737 |
+
"mean_std_embedding_keys": null,
|
| 738 |
+
"action_configs": null
|
| 739 |
+
},
|
| 740 |
+
"action": {
|
| 741 |
+
"delta_indices": [
|
| 742 |
+
0,
|
| 743 |
+
1,
|
| 744 |
+
2,
|
| 745 |
+
3,
|
| 746 |
+
4,
|
| 747 |
+
5,
|
| 748 |
+
6,
|
| 749 |
+
7,
|
| 750 |
+
8,
|
| 751 |
+
9,
|
| 752 |
+
10,
|
| 753 |
+
11,
|
| 754 |
+
12,
|
| 755 |
+
13,
|
| 756 |
+
14,
|
| 757 |
+
15
|
| 758 |
+
],
|
| 759 |
+
"modality_keys": [
|
| 760 |
+
"end_effector_position",
|
| 761 |
+
"end_effector_rotation",
|
| 762 |
+
"gripper_close"
|
| 763 |
+
],
|
| 764 |
+
"sin_cos_embedding_keys": null,
|
| 765 |
+
"mean_std_embedding_keys": null,
|
| 766 |
+
"action_configs": [
|
| 767 |
+
{
|
| 768 |
+
"rep": "DELTA",
|
| 769 |
+
"type": "EEF",
|
| 770 |
+
"format": "DEFAULT",
|
| 771 |
+
"state_key": null
|
| 772 |
+
},
|
| 773 |
+
{
|
| 774 |
+
"rep": "DELTA",
|
| 775 |
+
"type": "EEF",
|
| 776 |
+
"format": "DEFAULT",
|
| 777 |
+
"state_key": null
|
| 778 |
+
},
|
| 779 |
+
{
|
| 780 |
+
"rep": "ABSOLUTE",
|
| 781 |
+
"type": "NON_EEF",
|
| 782 |
+
"format": "DEFAULT",
|
| 783 |
+
"state_key": null
|
| 784 |
+
}
|
| 785 |
+
]
|
| 786 |
+
},
|
| 787 |
+
"language": {
|
| 788 |
+
"delta_indices": [
|
| 789 |
+
0
|
| 790 |
+
],
|
| 791 |
+
"modality_keys": [
|
| 792 |
+
"annotation.human.action.task_description"
|
| 793 |
+
],
|
| 794 |
+
"sin_cos_embedding_keys": null,
|
| 795 |
+
"mean_std_embedding_keys": null,
|
| 796 |
+
"action_configs": null
|
| 797 |
+
}
|
| 798 |
+
},
|
| 799 |
+
"stanford_hydra_dataset_converted_externally_to_rlds": {
|
| 800 |
+
"video": {
|
| 801 |
+
"delta_indices": [
|
| 802 |
+
-6,
|
| 803 |
+
-4,
|
| 804 |
+
-2,
|
| 805 |
+
0
|
| 806 |
+
],
|
| 807 |
+
"modality_keys": [
|
| 808 |
+
"primary",
|
| 809 |
+
"wrist"
|
| 810 |
+
],
|
| 811 |
+
"sin_cos_embedding_keys": null,
|
| 812 |
+
"mean_std_embedding_keys": null,
|
| 813 |
+
"action_configs": null
|
| 814 |
+
},
|
| 815 |
+
"state": {
|
| 816 |
+
"delta_indices": [
|
| 817 |
+
0
|
| 818 |
+
],
|
| 819 |
+
"modality_keys": [
|
| 820 |
+
"end_effector_position",
|
| 821 |
+
"end_effector_rotation",
|
| 822 |
+
"gripper_position"
|
| 823 |
+
],
|
| 824 |
+
"sin_cos_embedding_keys": null,
|
| 825 |
+
"mean_std_embedding_keys": null,
|
| 826 |
+
"action_configs": null
|
| 827 |
+
},
|
| 828 |
+
"action": {
|
| 829 |
+
"delta_indices": [
|
| 830 |
+
0,
|
| 831 |
+
1,
|
| 832 |
+
2,
|
| 833 |
+
3,
|
| 834 |
+
4,
|
| 835 |
+
5,
|
| 836 |
+
6,
|
| 837 |
+
7,
|
| 838 |
+
8,
|
| 839 |
+
9,
|
| 840 |
+
10,
|
| 841 |
+
11,
|
| 842 |
+
12,
|
| 843 |
+
13,
|
| 844 |
+
14,
|
| 845 |
+
15
|
| 846 |
+
],
|
| 847 |
+
"modality_keys": [
|
| 848 |
+
"end_effector_position",
|
| 849 |
+
"end_effector_rotation",
|
| 850 |
+
"gripper_close"
|
| 851 |
+
],
|
| 852 |
+
"sin_cos_embedding_keys": null,
|
| 853 |
+
"mean_std_embedding_keys": null,
|
| 854 |
+
"action_configs": [
|
| 855 |
+
{
|
| 856 |
+
"rep": "DELTA",
|
| 857 |
+
"type": "EEF",
|
| 858 |
+
"format": "DEFAULT",
|
| 859 |
+
"state_key": null
|
| 860 |
+
},
|
| 861 |
+
{
|
| 862 |
+
"rep": "DELTA",
|
| 863 |
+
"type": "EEF",
|
| 864 |
+
"format": "DEFAULT",
|
| 865 |
+
"state_key": null
|
| 866 |
+
},
|
| 867 |
+
{
|
| 868 |
+
"rep": "ABSOLUTE",
|
| 869 |
+
"type": "NON_EEF",
|
| 870 |
+
"format": "DEFAULT",
|
| 871 |
+
"state_key": null
|
| 872 |
+
}
|
| 873 |
+
]
|
| 874 |
+
},
|
| 875 |
+
"language": {
|
| 876 |
+
"delta_indices": [
|
| 877 |
+
0
|
| 878 |
+
],
|
| 879 |
+
"modality_keys": [
|
| 880 |
+
"annotation.human.action.task_description"
|
| 881 |
+
],
|
| 882 |
+
"sin_cos_embedding_keys": null,
|
| 883 |
+
"mean_std_embedding_keys": null,
|
| 884 |
+
"action_configs": null
|
| 885 |
+
}
|
| 886 |
+
},
|
| 887 |
+
"utaustin_mutex": {
|
| 888 |
+
"video": {
|
| 889 |
+
"delta_indices": [
|
| 890 |
+
-6,
|
| 891 |
+
-4,
|
| 892 |
+
-2,
|
| 893 |
+
0
|
| 894 |
+
],
|
| 895 |
+
"modality_keys": [
|
| 896 |
+
"primary",
|
| 897 |
+
"wrist"
|
| 898 |
+
],
|
| 899 |
+
"sin_cos_embedding_keys": null,
|
| 900 |
+
"mean_std_embedding_keys": null,
|
| 901 |
+
"action_configs": null
|
| 902 |
+
},
|
| 903 |
+
"state": {
|
| 904 |
+
"delta_indices": [
|
| 905 |
+
0
|
| 906 |
+
],
|
| 907 |
+
"modality_keys": [
|
| 908 |
+
"joint_position",
|
| 909 |
+
"gripper_position"
|
| 910 |
+
],
|
| 911 |
+
"sin_cos_embedding_keys": null,
|
| 912 |
+
"mean_std_embedding_keys": null,
|
| 913 |
+
"action_configs": null
|
| 914 |
+
},
|
| 915 |
+
"action": {
|
| 916 |
+
"delta_indices": [
|
| 917 |
+
0,
|
| 918 |
+
1,
|
| 919 |
+
2,
|
| 920 |
+
3,
|
| 921 |
+
4,
|
| 922 |
+
5,
|
| 923 |
+
6,
|
| 924 |
+
7,
|
| 925 |
+
8,
|
| 926 |
+
9,
|
| 927 |
+
10,
|
| 928 |
+
11,
|
| 929 |
+
12,
|
| 930 |
+
13,
|
| 931 |
+
14,
|
| 932 |
+
15
|
| 933 |
+
],
|
| 934 |
+
"modality_keys": [
|
| 935 |
+
"end_effector_position",
|
| 936 |
+
"end_effector_rotation",
|
| 937 |
+
"gripper_close"
|
| 938 |
+
],
|
| 939 |
+
"sin_cos_embedding_keys": null,
|
| 940 |
+
"mean_std_embedding_keys": null,
|
| 941 |
+
"action_configs": [
|
| 942 |
+
{
|
| 943 |
+
"rep": "DELTA",
|
| 944 |
+
"type": "EEF",
|
| 945 |
+
"format": "DEFAULT",
|
| 946 |
+
"state_key": null
|
| 947 |
+
},
|
| 948 |
+
{
|
| 949 |
+
"rep": "DELTA",
|
| 950 |
+
"type": "EEF",
|
| 951 |
+
"format": "DEFAULT",
|
| 952 |
+
"state_key": null
|
| 953 |
+
},
|
| 954 |
+
{
|
| 955 |
+
"rep": "ABSOLUTE",
|
| 956 |
+
"type": "NON_EEF",
|
| 957 |
+
"format": "DEFAULT",
|
| 958 |
+
"state_key": null
|
| 959 |
+
}
|
| 960 |
+
]
|
| 961 |
+
},
|
| 962 |
+
"language": {
|
| 963 |
+
"delta_indices": [
|
| 964 |
+
0
|
| 965 |
+
],
|
| 966 |
+
"modality_keys": [
|
| 967 |
+
"annotation.human.action.task_description"
|
| 968 |
+
],
|
| 969 |
+
"sin_cos_embedding_keys": null,
|
| 970 |
+
"mean_std_embedding_keys": null,
|
| 971 |
+
"action_configs": null
|
| 972 |
+
}
|
| 973 |
+
},
|
| 974 |
+
"furniture_bench_dataset_converted_externally_to_rlds": {
|
| 975 |
+
"video": {
|
| 976 |
+
"delta_indices": [
|
| 977 |
+
-6,
|
| 978 |
+
-4,
|
| 979 |
+
-2,
|
| 980 |
+
0
|
| 981 |
+
],
|
| 982 |
+
"modality_keys": [
|
| 983 |
+
"primary",
|
| 984 |
+
"wrist"
|
| 985 |
+
],
|
| 986 |
+
"sin_cos_embedding_keys": null,
|
| 987 |
+
"mean_std_embedding_keys": null,
|
| 988 |
+
"action_configs": null
|
| 989 |
+
},
|
| 990 |
+
"state": {
|
| 991 |
+
"delta_indices": [
|
| 992 |
+
0
|
| 993 |
+
],
|
| 994 |
+
"modality_keys": [
|
| 995 |
+
"end_effector_position",
|
| 996 |
+
"end_effector_rotation",
|
| 997 |
+
"gripper_position"
|
| 998 |
+
],
|
| 999 |
+
"sin_cos_embedding_keys": null,
|
| 1000 |
+
"mean_std_embedding_keys": null,
|
| 1001 |
+
"action_configs": null
|
| 1002 |
+
},
|
| 1003 |
+
"action": {
|
| 1004 |
+
"delta_indices": [
|
| 1005 |
+
0,
|
| 1006 |
+
1,
|
| 1007 |
+
2,
|
| 1008 |
+
3,
|
| 1009 |
+
4,
|
| 1010 |
+
5,
|
| 1011 |
+
6,
|
| 1012 |
+
7,
|
| 1013 |
+
8,
|
| 1014 |
+
9,
|
| 1015 |
+
10,
|
| 1016 |
+
11,
|
| 1017 |
+
12,
|
| 1018 |
+
13,
|
| 1019 |
+
14,
|
| 1020 |
+
15
|
| 1021 |
+
],
|
| 1022 |
+
"modality_keys": [
|
| 1023 |
+
"end_effector_position",
|
| 1024 |
+
"end_effector_rotation",
|
| 1025 |
+
"gripper_close"
|
| 1026 |
+
],
|
| 1027 |
+
"sin_cos_embedding_keys": null,
|
| 1028 |
+
"mean_std_embedding_keys": null,
|
| 1029 |
+
"action_configs": [
|
| 1030 |
+
{
|
| 1031 |
+
"rep": "DELTA",
|
| 1032 |
+
"type": "EEF",
|
| 1033 |
+
"format": "DEFAULT",
|
| 1034 |
+
"state_key": null
|
| 1035 |
+
},
|
| 1036 |
+
{
|
| 1037 |
+
"rep": "DELTA",
|
| 1038 |
+
"type": "EEF",
|
| 1039 |
+
"format": "DEFAULT",
|
| 1040 |
+
"state_key": null
|
| 1041 |
+
},
|
| 1042 |
+
{
|
| 1043 |
+
"rep": "ABSOLUTE",
|
| 1044 |
+
"type": "NON_EEF",
|
| 1045 |
+
"format": "DEFAULT",
|
| 1046 |
+
"state_key": null
|
| 1047 |
+
}
|
| 1048 |
+
]
|
| 1049 |
+
},
|
| 1050 |
+
"language": {
|
| 1051 |
+
"delta_indices": [
|
| 1052 |
+
0
|
| 1053 |
+
],
|
| 1054 |
+
"modality_keys": [
|
| 1055 |
+
"annotation.human.action.task_description"
|
| 1056 |
+
],
|
| 1057 |
+
"sin_cos_embedding_keys": null,
|
| 1058 |
+
"mean_std_embedding_keys": null,
|
| 1059 |
+
"action_configs": null
|
| 1060 |
+
}
|
| 1061 |
+
},
|
| 1062 |
+
"neural_gr1": {
|
| 1063 |
+
"video": {
|
| 1064 |
+
"delta_indices": [
|
| 1065 |
+
-6,
|
| 1066 |
+
-4,
|
| 1067 |
+
-2,
|
| 1068 |
+
0
|
| 1069 |
+
],
|
| 1070 |
+
"modality_keys": [
|
| 1071 |
+
"ego_view"
|
| 1072 |
+
],
|
| 1073 |
+
"sin_cos_embedding_keys": null,
|
| 1074 |
+
"mean_std_embedding_keys": null,
|
| 1075 |
+
"action_configs": null
|
| 1076 |
+
},
|
| 1077 |
+
"state": {
|
| 1078 |
+
"delta_indices": [
|
| 1079 |
+
0
|
| 1080 |
+
],
|
| 1081 |
+
"modality_keys": [
|
| 1082 |
+
"left_arm",
|
| 1083 |
+
"left_hand",
|
| 1084 |
+
"left_leg",
|
| 1085 |
+
"neck",
|
| 1086 |
+
"right_arm",
|
| 1087 |
+
"right_hand",
|
| 1088 |
+
"right_leg",
|
| 1089 |
+
"waist"
|
| 1090 |
+
],
|
| 1091 |
+
"sin_cos_embedding_keys": null,
|
| 1092 |
+
"mean_std_embedding_keys": null,
|
| 1093 |
+
"action_configs": null
|
| 1094 |
+
},
|
| 1095 |
+
"action": {
|
| 1096 |
+
"delta_indices": [
|
| 1097 |
+
0,
|
| 1098 |
+
1,
|
| 1099 |
+
2,
|
| 1100 |
+
3,
|
| 1101 |
+
4,
|
| 1102 |
+
5,
|
| 1103 |
+
6,
|
| 1104 |
+
7,
|
| 1105 |
+
8,
|
| 1106 |
+
9,
|
| 1107 |
+
10,
|
| 1108 |
+
11,
|
| 1109 |
+
12,
|
| 1110 |
+
13,
|
| 1111 |
+
14,
|
| 1112 |
+
15
|
| 1113 |
+
],
|
| 1114 |
+
"modality_keys": [
|
| 1115 |
+
"left_arm",
|
| 1116 |
+
"left_hand",
|
| 1117 |
+
"left_leg",
|
| 1118 |
+
"neck",
|
| 1119 |
+
"right_arm",
|
| 1120 |
+
"right_hand",
|
| 1121 |
+
"right_leg",
|
| 1122 |
+
"waist"
|
| 1123 |
+
],
|
| 1124 |
+
"sin_cos_embedding_keys": null,
|
| 1125 |
+
"mean_std_embedding_keys": null,
|
| 1126 |
+
"action_configs": [
|
| 1127 |
+
{
|
| 1128 |
+
"rep": "ABSOLUTE",
|
| 1129 |
+
"type": "NON_EEF",
|
| 1130 |
+
"format": "DEFAULT",
|
| 1131 |
+
"state_key": null
|
| 1132 |
+
},
|
| 1133 |
+
{
|
| 1134 |
+
"rep": "ABSOLUTE",
|
| 1135 |
+
"type": "NON_EEF",
|
| 1136 |
+
"format": "DEFAULT",
|
| 1137 |
+
"state_key": null
|
| 1138 |
+
},
|
| 1139 |
+
{
|
| 1140 |
+
"rep": "ABSOLUTE",
|
| 1141 |
+
"type": "NON_EEF",
|
| 1142 |
+
"format": "DEFAULT",
|
| 1143 |
+
"state_key": null
|
| 1144 |
+
},
|
| 1145 |
+
{
|
| 1146 |
+
"rep": "ABSOLUTE",
|
| 1147 |
+
"type": "NON_EEF",
|
| 1148 |
+
"format": "DEFAULT",
|
| 1149 |
+
"state_key": null
|
| 1150 |
+
},
|
| 1151 |
+
{
|
| 1152 |
+
"rep": "ABSOLUTE",
|
| 1153 |
+
"type": "NON_EEF",
|
| 1154 |
+
"format": "DEFAULT",
|
| 1155 |
+
"state_key": null
|
| 1156 |
+
},
|
| 1157 |
+
{
|
| 1158 |
+
"rep": "ABSOLUTE",
|
| 1159 |
+
"type": "NON_EEF",
|
| 1160 |
+
"format": "DEFAULT",
|
| 1161 |
+
"state_key": null
|
| 1162 |
+
},
|
| 1163 |
+
{
|
| 1164 |
+
"rep": "ABSOLUTE",
|
| 1165 |
+
"type": "NON_EEF",
|
| 1166 |
+
"format": "DEFAULT",
|
| 1167 |
+
"state_key": null
|
| 1168 |
+
},
|
| 1169 |
+
{
|
| 1170 |
+
"rep": "ABSOLUTE",
|
| 1171 |
+
"type": "NON_EEF",
|
| 1172 |
+
"format": "DEFAULT",
|
| 1173 |
+
"state_key": null
|
| 1174 |
+
}
|
| 1175 |
+
]
|
| 1176 |
+
},
|
| 1177 |
+
"language": {
|
| 1178 |
+
"delta_indices": [
|
| 1179 |
+
0
|
| 1180 |
+
],
|
| 1181 |
+
"modality_keys": [
|
| 1182 |
+
"annotation.human.action.task_description"
|
| 1183 |
+
],
|
| 1184 |
+
"sin_cos_embedding_keys": null,
|
| 1185 |
+
"mean_std_embedding_keys": null,
|
| 1186 |
+
"action_configs": null
|
| 1187 |
+
}
|
| 1188 |
+
},
|
| 1189 |
+
"agibot_gripper": {
|
| 1190 |
+
"video": {
|
| 1191 |
+
"delta_indices": [
|
| 1192 |
+
-6,
|
| 1193 |
+
-4,
|
| 1194 |
+
-2,
|
| 1195 |
+
0
|
| 1196 |
+
],
|
| 1197 |
+
"modality_keys": [
|
| 1198 |
+
"primary",
|
| 1199 |
+
"wrist_left",
|
| 1200 |
+
"wrist_right"
|
| 1201 |
+
],
|
| 1202 |
+
"sin_cos_embedding_keys": null,
|
| 1203 |
+
"mean_std_embedding_keys": null,
|
| 1204 |
+
"action_configs": null
|
| 1205 |
+
},
|
| 1206 |
+
"state": {
|
| 1207 |
+
"delta_indices": [
|
| 1208 |
+
0
|
| 1209 |
+
],
|
| 1210 |
+
"modality_keys": [
|
| 1211 |
+
"state"
|
| 1212 |
+
],
|
| 1213 |
+
"sin_cos_embedding_keys": null,
|
| 1214 |
+
"mean_std_embedding_keys": null,
|
| 1215 |
+
"action_configs": null
|
| 1216 |
+
},
|
| 1217 |
+
"action": {
|
| 1218 |
+
"delta_indices": [
|
| 1219 |
+
0,
|
| 1220 |
+
1,
|
| 1221 |
+
2,
|
| 1222 |
+
3,
|
| 1223 |
+
4,
|
| 1224 |
+
5,
|
| 1225 |
+
6,
|
| 1226 |
+
7,
|
| 1227 |
+
8,
|
| 1228 |
+
9,
|
| 1229 |
+
10,
|
| 1230 |
+
11,
|
| 1231 |
+
12,
|
| 1232 |
+
13,
|
| 1233 |
+
14,
|
| 1234 |
+
15
|
| 1235 |
+
],
|
| 1236 |
+
"modality_keys": [
|
| 1237 |
+
"action"
|
| 1238 |
+
],
|
| 1239 |
+
"sin_cos_embedding_keys": null,
|
| 1240 |
+
"mean_std_embedding_keys": null,
|
| 1241 |
+
"action_configs": [
|
| 1242 |
+
{
|
| 1243 |
+
"rep": "ABSOLUTE",
|
| 1244 |
+
"type": "NON_EEF",
|
| 1245 |
+
"format": "DEFAULT",
|
| 1246 |
+
"state_key": null
|
| 1247 |
+
}
|
| 1248 |
+
]
|
| 1249 |
+
},
|
| 1250 |
+
"language": {
|
| 1251 |
+
"delta_indices": [
|
| 1252 |
+
0
|
| 1253 |
+
],
|
| 1254 |
+
"modality_keys": [
|
| 1255 |
+
"annotation.human.action.task_description"
|
| 1256 |
+
],
|
| 1257 |
+
"sin_cos_embedding_keys": null,
|
| 1258 |
+
"mean_std_embedding_keys": null,
|
| 1259 |
+
"action_configs": null
|
| 1260 |
+
}
|
| 1261 |
+
},
|
| 1262 |
+
"fmb_dataset": {
|
| 1263 |
+
"video": {
|
| 1264 |
+
"delta_indices": [
|
| 1265 |
+
-6,
|
| 1266 |
+
-4,
|
| 1267 |
+
-2,
|
| 1268 |
+
0
|
| 1269 |
+
],
|
| 1270 |
+
"modality_keys": [
|
| 1271 |
+
"primary",
|
| 1272 |
+
"secondary",
|
| 1273 |
+
"wrist"
|
| 1274 |
+
],
|
| 1275 |
+
"sin_cos_embedding_keys": null,
|
| 1276 |
+
"mean_std_embedding_keys": null,
|
| 1277 |
+
"action_configs": null
|
| 1278 |
+
},
|
| 1279 |
+
"state": {
|
| 1280 |
+
"delta_indices": [
|
| 1281 |
+
0
|
| 1282 |
+
],
|
| 1283 |
+
"modality_keys": [
|
| 1284 |
+
"end_effector_position",
|
| 1285 |
+
"end_effector_rotation",
|
| 1286 |
+
"gripper_position"
|
| 1287 |
+
],
|
| 1288 |
+
"sin_cos_embedding_keys": null,
|
| 1289 |
+
"mean_std_embedding_keys": null,
|
| 1290 |
+
"action_configs": null
|
| 1291 |
+
},
|
| 1292 |
+
"action": {
|
| 1293 |
+
"delta_indices": [
|
| 1294 |
+
0,
|
| 1295 |
+
1,
|
| 1296 |
+
2,
|
| 1297 |
+
3,
|
| 1298 |
+
4,
|
| 1299 |
+
5,
|
| 1300 |
+
6,
|
| 1301 |
+
7,
|
| 1302 |
+
8,
|
| 1303 |
+
9,
|
| 1304 |
+
10,
|
| 1305 |
+
11,
|
| 1306 |
+
12,
|
| 1307 |
+
13,
|
| 1308 |
+
14,
|
| 1309 |
+
15
|
| 1310 |
+
],
|
| 1311 |
+
"modality_keys": [
|
| 1312 |
+
"end_effector_position",
|
| 1313 |
+
"end_effector_rotation",
|
| 1314 |
+
"gripper_close"
|
| 1315 |
+
],
|
| 1316 |
+
"sin_cos_embedding_keys": null,
|
| 1317 |
+
"mean_std_embedding_keys": null,
|
| 1318 |
+
"action_configs": [
|
| 1319 |
+
{
|
| 1320 |
+
"rep": "DELTA",
|
| 1321 |
+
"type": "EEF",
|
| 1322 |
+
"format": "DEFAULT",
|
| 1323 |
+
"state_key": null
|
| 1324 |
+
},
|
| 1325 |
+
{
|
| 1326 |
+
"rep": "DELTA",
|
| 1327 |
+
"type": "EEF",
|
| 1328 |
+
"format": "DEFAULT",
|
| 1329 |
+
"state_key": null
|
| 1330 |
+
},
|
| 1331 |
+
{
|
| 1332 |
+
"rep": "ABSOLUTE",
|
| 1333 |
+
"type": "NON_EEF",
|
| 1334 |
+
"format": "DEFAULT",
|
| 1335 |
+
"state_key": null
|
| 1336 |
+
}
|
| 1337 |
+
]
|
| 1338 |
+
},
|
| 1339 |
+
"language": {
|
| 1340 |
+
"delta_indices": [
|
| 1341 |
+
0
|
| 1342 |
+
],
|
| 1343 |
+
"modality_keys": [
|
| 1344 |
+
"annotation.human.action.task_description"
|
| 1345 |
+
],
|
| 1346 |
+
"sin_cos_embedding_keys": null,
|
| 1347 |
+
"mean_std_embedding_keys": null,
|
| 1348 |
+
"action_configs": null
|
| 1349 |
+
}
|
| 1350 |
+
},
|
| 1351 |
+
"dobbe": {
|
| 1352 |
+
"video": {
|
| 1353 |
+
"delta_indices": [
|
| 1354 |
+
-6,
|
| 1355 |
+
-4,
|
| 1356 |
+
-2,
|
| 1357 |
+
0
|
| 1358 |
+
],
|
| 1359 |
+
"modality_keys": [
|
| 1360 |
+
"wrist"
|
| 1361 |
+
],
|
| 1362 |
+
"sin_cos_embedding_keys": null,
|
| 1363 |
+
"mean_std_embedding_keys": null,
|
| 1364 |
+
"action_configs": null
|
| 1365 |
+
},
|
| 1366 |
+
"state": {
|
| 1367 |
+
"delta_indices": [
|
| 1368 |
+
0
|
| 1369 |
+
],
|
| 1370 |
+
"modality_keys": [
|
| 1371 |
+
"end_effector_position",
|
| 1372 |
+
"end_effector_rotation",
|
| 1373 |
+
"gripper_position"
|
| 1374 |
+
],
|
| 1375 |
+
"sin_cos_embedding_keys": null,
|
| 1376 |
+
"mean_std_embedding_keys": null,
|
| 1377 |
+
"action_configs": null
|
| 1378 |
+
},
|
| 1379 |
+
"action": {
|
| 1380 |
+
"delta_indices": [
|
| 1381 |
+
0,
|
| 1382 |
+
1,
|
| 1383 |
+
2,
|
| 1384 |
+
3,
|
| 1385 |
+
4,
|
| 1386 |
+
5,
|
| 1387 |
+
6,
|
| 1388 |
+
7,
|
| 1389 |
+
8,
|
| 1390 |
+
9,
|
| 1391 |
+
10,
|
| 1392 |
+
11,
|
| 1393 |
+
12,
|
| 1394 |
+
13,
|
| 1395 |
+
14,
|
| 1396 |
+
15
|
| 1397 |
+
],
|
| 1398 |
+
"modality_keys": [
|
| 1399 |
+
"end_effector_position",
|
| 1400 |
+
"end_effector_rotation",
|
| 1401 |
+
"gripper_close"
|
| 1402 |
+
],
|
| 1403 |
+
"sin_cos_embedding_keys": null,
|
| 1404 |
+
"mean_std_embedding_keys": null,
|
| 1405 |
+
"action_configs": [
|
| 1406 |
+
{
|
| 1407 |
+
"rep": "DELTA",
|
| 1408 |
+
"type": "EEF",
|
| 1409 |
+
"format": "DEFAULT",
|
| 1410 |
+
"state_key": null
|
| 1411 |
+
},
|
| 1412 |
+
{
|
| 1413 |
+
"rep": "DELTA",
|
| 1414 |
+
"type": "EEF",
|
| 1415 |
+
"format": "DEFAULT",
|
| 1416 |
+
"state_key": null
|
| 1417 |
+
},
|
| 1418 |
+
{
|
| 1419 |
+
"rep": "ABSOLUTE",
|
| 1420 |
+
"type": "NON_EEF",
|
| 1421 |
+
"format": "DEFAULT",
|
| 1422 |
+
"state_key": null
|
| 1423 |
+
}
|
| 1424 |
+
]
|
| 1425 |
+
},
|
| 1426 |
+
"language": {
|
| 1427 |
+
"delta_indices": [
|
| 1428 |
+
0
|
| 1429 |
+
],
|
| 1430 |
+
"modality_keys": [
|
| 1431 |
+
"annotation.human.action.task_description"
|
| 1432 |
+
],
|
| 1433 |
+
"sin_cos_embedding_keys": null,
|
| 1434 |
+
"mean_std_embedding_keys": null,
|
| 1435 |
+
"action_configs": null
|
| 1436 |
+
}
|
| 1437 |
+
},
|
| 1438 |
+
"viola": {
|
| 1439 |
+
"video": {
|
| 1440 |
+
"delta_indices": [
|
| 1441 |
+
-6,
|
| 1442 |
+
-4,
|
| 1443 |
+
-2,
|
| 1444 |
+
0
|
| 1445 |
+
],
|
| 1446 |
+
"modality_keys": [
|
| 1447 |
+
"primary",
|
| 1448 |
+
"wrist"
|
| 1449 |
+
],
|
| 1450 |
+
"sin_cos_embedding_keys": null,
|
| 1451 |
+
"mean_std_embedding_keys": null,
|
| 1452 |
+
"action_configs": null
|
| 1453 |
+
},
|
| 1454 |
+
"state": {
|
| 1455 |
+
"delta_indices": [
|
| 1456 |
+
0
|
| 1457 |
+
],
|
| 1458 |
+
"modality_keys": [
|
| 1459 |
+
"joint_position",
|
| 1460 |
+
"gripper_position"
|
| 1461 |
+
],
|
| 1462 |
+
"sin_cos_embedding_keys": null,
|
| 1463 |
+
"mean_std_embedding_keys": null,
|
| 1464 |
+
"action_configs": null
|
| 1465 |
+
},
|
| 1466 |
+
"action": {
|
| 1467 |
+
"delta_indices": [
|
| 1468 |
+
0,
|
| 1469 |
+
1,
|
| 1470 |
+
2,
|
| 1471 |
+
3,
|
| 1472 |
+
4,
|
| 1473 |
+
5,
|
| 1474 |
+
6,
|
| 1475 |
+
7,
|
| 1476 |
+
8,
|
| 1477 |
+
9,
|
| 1478 |
+
10,
|
| 1479 |
+
11,
|
| 1480 |
+
12,
|
| 1481 |
+
13,
|
| 1482 |
+
14,
|
| 1483 |
+
15
|
| 1484 |
+
],
|
| 1485 |
+
"modality_keys": [
|
| 1486 |
+
"end_effector_position",
|
| 1487 |
+
"end_effector_rotation",
|
| 1488 |
+
"gripper_close"
|
| 1489 |
+
],
|
| 1490 |
+
"sin_cos_embedding_keys": null,
|
| 1491 |
+
"mean_std_embedding_keys": null,
|
| 1492 |
+
"action_configs": [
|
| 1493 |
+
{
|
| 1494 |
+
"rep": "DELTA",
|
| 1495 |
+
"type": "EEF",
|
| 1496 |
+
"format": "DEFAULT",
|
| 1497 |
+
"state_key": null
|
| 1498 |
+
},
|
| 1499 |
+
{
|
| 1500 |
+
"rep": "DELTA",
|
| 1501 |
+
"type": "EEF",
|
| 1502 |
+
"format": "DEFAULT",
|
| 1503 |
+
"state_key": null
|
| 1504 |
+
},
|
| 1505 |
+
{
|
| 1506 |
+
"rep": "ABSOLUTE",
|
| 1507 |
+
"type": "NON_EEF",
|
| 1508 |
+
"format": "DEFAULT",
|
| 1509 |
+
"state_key": null
|
| 1510 |
+
}
|
| 1511 |
+
]
|
| 1512 |
+
},
|
| 1513 |
+
"language": {
|
| 1514 |
+
"delta_indices": [
|
| 1515 |
+
0
|
| 1516 |
+
],
|
| 1517 |
+
"modality_keys": [
|
| 1518 |
+
"annotation.human.action.task_description"
|
| 1519 |
+
],
|
| 1520 |
+
"sin_cos_embedding_keys": null,
|
| 1521 |
+
"mean_std_embedding_keys": null,
|
| 1522 |
+
"action_configs": null
|
| 1523 |
+
}
|
| 1524 |
+
},
|
| 1525 |
+
"humanoid_everyday_h1": {
|
| 1526 |
+
"video": {
|
| 1527 |
+
"delta_indices": [
|
| 1528 |
+
-6,
|
| 1529 |
+
-4,
|
| 1530 |
+
-2,
|
| 1531 |
+
0
|
| 1532 |
+
],
|
| 1533 |
+
"modality_keys": [
|
| 1534 |
+
"egocentric_resized"
|
| 1535 |
+
],
|
| 1536 |
+
"sin_cos_embedding_keys": null,
|
| 1537 |
+
"mean_std_embedding_keys": null,
|
| 1538 |
+
"action_configs": null
|
| 1539 |
+
},
|
| 1540 |
+
"state": {
|
| 1541 |
+
"delta_indices": [
|
| 1542 |
+
0
|
| 1543 |
+
],
|
| 1544 |
+
"modality_keys": [
|
| 1545 |
+
"left_arm",
|
| 1546 |
+
"left_hand",
|
| 1547 |
+
"right_arm",
|
| 1548 |
+
"right_hand"
|
| 1549 |
+
],
|
| 1550 |
+
"sin_cos_embedding_keys": null,
|
| 1551 |
+
"mean_std_embedding_keys": null,
|
| 1552 |
+
"action_configs": null
|
| 1553 |
+
},
|
| 1554 |
+
"action": {
|
| 1555 |
+
"delta_indices": [
|
| 1556 |
+
0,
|
| 1557 |
+
1,
|
| 1558 |
+
2,
|
| 1559 |
+
3,
|
| 1560 |
+
4,
|
| 1561 |
+
5,
|
| 1562 |
+
6,
|
| 1563 |
+
7,
|
| 1564 |
+
8,
|
| 1565 |
+
9,
|
| 1566 |
+
10,
|
| 1567 |
+
11,
|
| 1568 |
+
12,
|
| 1569 |
+
13,
|
| 1570 |
+
14,
|
| 1571 |
+
15
|
| 1572 |
+
],
|
| 1573 |
+
"modality_keys": [
|
| 1574 |
+
"left_arm",
|
| 1575 |
+
"left_hand",
|
| 1576 |
+
"right_arm",
|
| 1577 |
+
"right_hand"
|
| 1578 |
+
],
|
| 1579 |
+
"sin_cos_embedding_keys": null,
|
| 1580 |
+
"mean_std_embedding_keys": null,
|
| 1581 |
+
"action_configs": [
|
| 1582 |
+
{
|
| 1583 |
+
"rep": "ABSOLUTE",
|
| 1584 |
+
"type": "NON_EEF",
|
| 1585 |
+
"format": "DEFAULT",
|
| 1586 |
+
"state_key": null
|
| 1587 |
+
},
|
| 1588 |
+
{
|
| 1589 |
+
"rep": "ABSOLUTE",
|
| 1590 |
+
"type": "NON_EEF",
|
| 1591 |
+
"format": "DEFAULT",
|
| 1592 |
+
"state_key": null
|
| 1593 |
+
},
|
| 1594 |
+
{
|
| 1595 |
+
"rep": "ABSOLUTE",
|
| 1596 |
+
"type": "NON_EEF",
|
| 1597 |
+
"format": "DEFAULT",
|
| 1598 |
+
"state_key": null
|
| 1599 |
+
},
|
| 1600 |
+
{
|
| 1601 |
+
"rep": "ABSOLUTE",
|
| 1602 |
+
"type": "NON_EEF",
|
| 1603 |
+
"format": "DEFAULT",
|
| 1604 |
+
"state_key": null
|
| 1605 |
+
}
|
| 1606 |
+
]
|
| 1607 |
+
},
|
| 1608 |
+
"language": {
|
| 1609 |
+
"delta_indices": [
|
| 1610 |
+
0
|
| 1611 |
+
],
|
| 1612 |
+
"modality_keys": [
|
| 1613 |
+
"annotation.human.action.task_description"
|
| 1614 |
+
],
|
| 1615 |
+
"sin_cos_embedding_keys": null,
|
| 1616 |
+
"mean_std_embedding_keys": null,
|
| 1617 |
+
"action_configs": null
|
| 1618 |
+
}
|
| 1619 |
+
},
|
| 1620 |
+
"austin_buds_dataset_converted_externally_to_rlds": {
|
| 1621 |
+
"video": {
|
| 1622 |
+
"delta_indices": [
|
| 1623 |
+
-6,
|
| 1624 |
+
-4,
|
| 1625 |
+
-2,
|
| 1626 |
+
0
|
| 1627 |
+
],
|
| 1628 |
+
"modality_keys": [
|
| 1629 |
+
"primary",
|
| 1630 |
+
"wrist"
|
| 1631 |
+
],
|
| 1632 |
+
"sin_cos_embedding_keys": null,
|
| 1633 |
+
"mean_std_embedding_keys": null,
|
| 1634 |
+
"action_configs": null
|
| 1635 |
+
},
|
| 1636 |
+
"state": {
|
| 1637 |
+
"delta_indices": [
|
| 1638 |
+
0
|
| 1639 |
+
],
|
| 1640 |
+
"modality_keys": [
|
| 1641 |
+
"joint_position",
|
| 1642 |
+
"gripper_position"
|
| 1643 |
+
],
|
| 1644 |
+
"sin_cos_embedding_keys": null,
|
| 1645 |
+
"mean_std_embedding_keys": null,
|
| 1646 |
+
"action_configs": null
|
| 1647 |
+
},
|
| 1648 |
+
"action": {
|
| 1649 |
+
"delta_indices": [
|
| 1650 |
+
0,
|
| 1651 |
+
1,
|
| 1652 |
+
2,
|
| 1653 |
+
3,
|
| 1654 |
+
4,
|
| 1655 |
+
5,
|
| 1656 |
+
6,
|
| 1657 |
+
7,
|
| 1658 |
+
8,
|
| 1659 |
+
9,
|
| 1660 |
+
10,
|
| 1661 |
+
11,
|
| 1662 |
+
12,
|
| 1663 |
+
13,
|
| 1664 |
+
14,
|
| 1665 |
+
15
|
| 1666 |
+
],
|
| 1667 |
+
"modality_keys": [
|
| 1668 |
+
"end_effector_position",
|
| 1669 |
+
"end_effector_rotation",
|
| 1670 |
+
"gripper_close"
|
| 1671 |
+
],
|
| 1672 |
+
"sin_cos_embedding_keys": null,
|
| 1673 |
+
"mean_std_embedding_keys": null,
|
| 1674 |
+
"action_configs": [
|
| 1675 |
+
{
|
| 1676 |
+
"rep": "DELTA",
|
| 1677 |
+
"type": "EEF",
|
| 1678 |
+
"format": "DEFAULT",
|
| 1679 |
+
"state_key": null
|
| 1680 |
+
},
|
| 1681 |
+
{
|
| 1682 |
+
"rep": "DELTA",
|
| 1683 |
+
"type": "EEF",
|
| 1684 |
+
"format": "DEFAULT",
|
| 1685 |
+
"state_key": null
|
| 1686 |
+
},
|
| 1687 |
+
{
|
| 1688 |
+
"rep": "ABSOLUTE",
|
| 1689 |
+
"type": "NON_EEF",
|
| 1690 |
+
"format": "DEFAULT",
|
| 1691 |
+
"state_key": null
|
| 1692 |
+
}
|
| 1693 |
+
]
|
| 1694 |
+
},
|
| 1695 |
+
"language": {
|
| 1696 |
+
"delta_indices": [
|
| 1697 |
+
0
|
| 1698 |
+
],
|
| 1699 |
+
"modality_keys": [
|
| 1700 |
+
"annotation.human.action.task_description"
|
| 1701 |
+
],
|
| 1702 |
+
"sin_cos_embedding_keys": null,
|
| 1703 |
+
"mean_std_embedding_keys": null,
|
| 1704 |
+
"action_configs": null
|
| 1705 |
+
}
|
| 1706 |
+
},
|
| 1707 |
+
"taco_play": {
|
| 1708 |
+
"video": {
|
| 1709 |
+
"delta_indices": [
|
| 1710 |
+
-6,
|
| 1711 |
+
-4,
|
| 1712 |
+
-2,
|
| 1713 |
+
0
|
| 1714 |
+
],
|
| 1715 |
+
"modality_keys": [
|
| 1716 |
+
"primary",
|
| 1717 |
+
"wrist"
|
| 1718 |
+
],
|
| 1719 |
+
"sin_cos_embedding_keys": null,
|
| 1720 |
+
"mean_std_embedding_keys": null,
|
| 1721 |
+
"action_configs": null
|
| 1722 |
+
},
|
| 1723 |
+
"state": {
|
| 1724 |
+
"delta_indices": [
|
| 1725 |
+
0
|
| 1726 |
+
],
|
| 1727 |
+
"modality_keys": [
|
| 1728 |
+
"end_effector_position",
|
| 1729 |
+
"end_effector_rotation",
|
| 1730 |
+
"gripper_position"
|
| 1731 |
+
],
|
| 1732 |
+
"sin_cos_embedding_keys": null,
|
| 1733 |
+
"mean_std_embedding_keys": null,
|
| 1734 |
+
"action_configs": null
|
| 1735 |
+
},
|
| 1736 |
+
"action": {
|
| 1737 |
+
"delta_indices": [
|
| 1738 |
+
0,
|
| 1739 |
+
1,
|
| 1740 |
+
2,
|
| 1741 |
+
3,
|
| 1742 |
+
4,
|
| 1743 |
+
5,
|
| 1744 |
+
6,
|
| 1745 |
+
7,
|
| 1746 |
+
8,
|
| 1747 |
+
9,
|
| 1748 |
+
10,
|
| 1749 |
+
11,
|
| 1750 |
+
12,
|
| 1751 |
+
13,
|
| 1752 |
+
14,
|
| 1753 |
+
15
|
| 1754 |
+
],
|
| 1755 |
+
"modality_keys": [
|
| 1756 |
+
"end_effector_position",
|
| 1757 |
+
"end_effector_rotation",
|
| 1758 |
+
"gripper_close"
|
| 1759 |
+
],
|
| 1760 |
+
"sin_cos_embedding_keys": null,
|
| 1761 |
+
"mean_std_embedding_keys": null,
|
| 1762 |
+
"action_configs": [
|
| 1763 |
+
{
|
| 1764 |
+
"rep": "DELTA",
|
| 1765 |
+
"type": "EEF",
|
| 1766 |
+
"format": "DEFAULT",
|
| 1767 |
+
"state_key": null
|
| 1768 |
+
},
|
| 1769 |
+
{
|
| 1770 |
+
"rep": "DELTA",
|
| 1771 |
+
"type": "EEF",
|
| 1772 |
+
"format": "DEFAULT",
|
| 1773 |
+
"state_key": null
|
| 1774 |
+
},
|
| 1775 |
+
{
|
| 1776 |
+
"rep": "ABSOLUTE",
|
| 1777 |
+
"type": "NON_EEF",
|
| 1778 |
+
"format": "DEFAULT",
|
| 1779 |
+
"state_key": null
|
| 1780 |
+
}
|
| 1781 |
+
]
|
| 1782 |
+
},
|
| 1783 |
+
"language": {
|
| 1784 |
+
"delta_indices": [
|
| 1785 |
+
0
|
| 1786 |
+
],
|
| 1787 |
+
"modality_keys": [
|
| 1788 |
+
"annotation.human.action.task_description"
|
| 1789 |
+
],
|
| 1790 |
+
"sin_cos_embedding_keys": null,
|
| 1791 |
+
"mean_std_embedding_keys": null,
|
| 1792 |
+
"action_configs": null
|
| 1793 |
+
}
|
| 1794 |
+
},
|
| 1795 |
+
"toto": {
|
| 1796 |
+
"video": {
|
| 1797 |
+
"delta_indices": [
|
| 1798 |
+
-6,
|
| 1799 |
+
-4,
|
| 1800 |
+
-2,
|
| 1801 |
+
0
|
| 1802 |
+
],
|
| 1803 |
+
"modality_keys": [
|
| 1804 |
+
"primary"
|
| 1805 |
+
],
|
| 1806 |
+
"sin_cos_embedding_keys": null,
|
| 1807 |
+
"mean_std_embedding_keys": null,
|
| 1808 |
+
"action_configs": null
|
| 1809 |
+
},
|
| 1810 |
+
"state": {
|
| 1811 |
+
"delta_indices": [
|
| 1812 |
+
0
|
| 1813 |
+
],
|
| 1814 |
+
"modality_keys": [
|
| 1815 |
+
"joint_position",
|
| 1816 |
+
"gripper_position"
|
| 1817 |
+
],
|
| 1818 |
+
"sin_cos_embedding_keys": null,
|
| 1819 |
+
"mean_std_embedding_keys": null,
|
| 1820 |
+
"action_configs": null
|
| 1821 |
+
},
|
| 1822 |
+
"action": {
|
| 1823 |
+
"delta_indices": [
|
| 1824 |
+
0,
|
| 1825 |
+
1,
|
| 1826 |
+
2,
|
| 1827 |
+
3,
|
| 1828 |
+
4,
|
| 1829 |
+
5,
|
| 1830 |
+
6,
|
| 1831 |
+
7,
|
| 1832 |
+
8,
|
| 1833 |
+
9,
|
| 1834 |
+
10,
|
| 1835 |
+
11,
|
| 1836 |
+
12,
|
| 1837 |
+
13,
|
| 1838 |
+
14,
|
| 1839 |
+
15
|
| 1840 |
+
],
|
| 1841 |
+
"modality_keys": [
|
| 1842 |
+
"end_effector_position",
|
| 1843 |
+
"end_effector_rotation",
|
| 1844 |
+
"gripper_close"
|
| 1845 |
+
],
|
| 1846 |
+
"sin_cos_embedding_keys": null,
|
| 1847 |
+
"mean_std_embedding_keys": null,
|
| 1848 |
+
"action_configs": [
|
| 1849 |
+
{
|
| 1850 |
+
"rep": "DELTA",
|
| 1851 |
+
"type": "EEF",
|
| 1852 |
+
"format": "DEFAULT",
|
| 1853 |
+
"state_key": null
|
| 1854 |
+
},
|
| 1855 |
+
{
|
| 1856 |
+
"rep": "DELTA",
|
| 1857 |
+
"type": "EEF",
|
| 1858 |
+
"format": "DEFAULT",
|
| 1859 |
+
"state_key": null
|
| 1860 |
+
},
|
| 1861 |
+
{
|
| 1862 |
+
"rep": "ABSOLUTE",
|
| 1863 |
+
"type": "NON_EEF",
|
| 1864 |
+
"format": "DEFAULT",
|
| 1865 |
+
"state_key": null
|
| 1866 |
+
}
|
| 1867 |
+
]
|
| 1868 |
+
},
|
| 1869 |
+
"language": {
|
| 1870 |
+
"delta_indices": [
|
| 1871 |
+
0
|
| 1872 |
+
],
|
| 1873 |
+
"modality_keys": [
|
| 1874 |
+
"annotation.human.action.task_description"
|
| 1875 |
+
],
|
| 1876 |
+
"sin_cos_embedding_keys": null,
|
| 1877 |
+
"mean_std_embedding_keys": null,
|
| 1878 |
+
"action_configs": null
|
| 1879 |
+
}
|
| 1880 |
+
},
|
| 1881 |
+
"language_table": {
|
| 1882 |
+
"video": {
|
| 1883 |
+
"delta_indices": [
|
| 1884 |
+
-6,
|
| 1885 |
+
-4,
|
| 1886 |
+
-2,
|
| 1887 |
+
0
|
| 1888 |
+
],
|
| 1889 |
+
"modality_keys": [
|
| 1890 |
+
"primary"
|
| 1891 |
+
],
|
| 1892 |
+
"sin_cos_embedding_keys": null,
|
| 1893 |
+
"mean_std_embedding_keys": null,
|
| 1894 |
+
"action_configs": null
|
| 1895 |
+
},
|
| 1896 |
+
"state": {
|
| 1897 |
+
"delta_indices": [
|
| 1898 |
+
0
|
| 1899 |
+
],
|
| 1900 |
+
"modality_keys": [
|
| 1901 |
+
"end_effector_position"
|
| 1902 |
+
],
|
| 1903 |
+
"sin_cos_embedding_keys": null,
|
| 1904 |
+
"mean_std_embedding_keys": null,
|
| 1905 |
+
"action_configs": null
|
| 1906 |
+
},
|
| 1907 |
+
"action": {
|
| 1908 |
+
"delta_indices": [
|
| 1909 |
+
0,
|
| 1910 |
+
1,
|
| 1911 |
+
2,
|
| 1912 |
+
3,
|
| 1913 |
+
4,
|
| 1914 |
+
5,
|
| 1915 |
+
6,
|
| 1916 |
+
7,
|
| 1917 |
+
8,
|
| 1918 |
+
9,
|
| 1919 |
+
10,
|
| 1920 |
+
11,
|
| 1921 |
+
12,
|
| 1922 |
+
13,
|
| 1923 |
+
14,
|
| 1924 |
+
15
|
| 1925 |
+
],
|
| 1926 |
+
"modality_keys": [
|
| 1927 |
+
"end_effector_position"
|
| 1928 |
+
],
|
| 1929 |
+
"sin_cos_embedding_keys": null,
|
| 1930 |
+
"mean_std_embedding_keys": null,
|
| 1931 |
+
"action_configs": [
|
| 1932 |
+
{
|
| 1933 |
+
"rep": "DELTA",
|
| 1934 |
+
"type": "EEF",
|
| 1935 |
+
"format": "DEFAULT",
|
| 1936 |
+
"state_key": null
|
| 1937 |
+
}
|
| 1938 |
+
]
|
| 1939 |
+
},
|
| 1940 |
+
"language": {
|
| 1941 |
+
"delta_indices": [
|
| 1942 |
+
0
|
| 1943 |
+
],
|
| 1944 |
+
"modality_keys": [
|
| 1945 |
+
"annotation.human.action.task_description"
|
| 1946 |
+
],
|
| 1947 |
+
"sin_cos_embedding_keys": null,
|
| 1948 |
+
"mean_std_embedding_keys": null,
|
| 1949 |
+
"action_configs": null
|
| 1950 |
+
}
|
| 1951 |
+
},
|
| 1952 |
+
"nyu_franka_play_dataset_converted_externally_to_rlds": {
|
| 1953 |
+
"video": {
|
| 1954 |
+
"delta_indices": [
|
| 1955 |
+
-6,
|
| 1956 |
+
-4,
|
| 1957 |
+
-2,
|
| 1958 |
+
0
|
| 1959 |
+
],
|
| 1960 |
+
"modality_keys": [
|
| 1961 |
+
"primary",
|
| 1962 |
+
"secondary"
|
| 1963 |
+
],
|
| 1964 |
+
"sin_cos_embedding_keys": null,
|
| 1965 |
+
"mean_std_embedding_keys": null,
|
| 1966 |
+
"action_configs": null
|
| 1967 |
+
},
|
| 1968 |
+
"state": {
|
| 1969 |
+
"delta_indices": [
|
| 1970 |
+
0
|
| 1971 |
+
],
|
| 1972 |
+
"modality_keys": [
|
| 1973 |
+
"end_effector_position",
|
| 1974 |
+
"end_effector_rotation",
|
| 1975 |
+
"gripper_position"
|
| 1976 |
+
],
|
| 1977 |
+
"sin_cos_embedding_keys": null,
|
| 1978 |
+
"mean_std_embedding_keys": null,
|
| 1979 |
+
"action_configs": null
|
| 1980 |
+
},
|
| 1981 |
+
"action": {
|
| 1982 |
+
"delta_indices": [
|
| 1983 |
+
0,
|
| 1984 |
+
1,
|
| 1985 |
+
2,
|
| 1986 |
+
3,
|
| 1987 |
+
4,
|
| 1988 |
+
5,
|
| 1989 |
+
6,
|
| 1990 |
+
7,
|
| 1991 |
+
8,
|
| 1992 |
+
9,
|
| 1993 |
+
10,
|
| 1994 |
+
11,
|
| 1995 |
+
12,
|
| 1996 |
+
13,
|
| 1997 |
+
14,
|
| 1998 |
+
15
|
| 1999 |
+
],
|
| 2000 |
+
"modality_keys": [
|
| 2001 |
+
"end_effector_position",
|
| 2002 |
+
"end_effector_rotation",
|
| 2003 |
+
"gripper_close"
|
| 2004 |
+
],
|
| 2005 |
+
"sin_cos_embedding_keys": null,
|
| 2006 |
+
"mean_std_embedding_keys": null,
|
| 2007 |
+
"action_configs": [
|
| 2008 |
+
{
|
| 2009 |
+
"rep": "DELTA",
|
| 2010 |
+
"type": "EEF",
|
| 2011 |
+
"format": "DEFAULT",
|
| 2012 |
+
"state_key": null
|
| 2013 |
+
},
|
| 2014 |
+
{
|
| 2015 |
+
"rep": "DELTA",
|
| 2016 |
+
"type": "EEF",
|
| 2017 |
+
"format": "DEFAULT",
|
| 2018 |
+
"state_key": null
|
| 2019 |
+
},
|
| 2020 |
+
{
|
| 2021 |
+
"rep": "ABSOLUTE",
|
| 2022 |
+
"type": "NON_EEF",
|
| 2023 |
+
"format": "DEFAULT",
|
| 2024 |
+
"state_key": null
|
| 2025 |
+
}
|
| 2026 |
+
]
|
| 2027 |
+
},
|
| 2028 |
+
"language": {
|
| 2029 |
+
"delta_indices": [
|
| 2030 |
+
0
|
| 2031 |
+
],
|
| 2032 |
+
"modality_keys": [
|
| 2033 |
+
"annotation.human.action.task_description"
|
| 2034 |
+
],
|
| 2035 |
+
"sin_cos_embedding_keys": null,
|
| 2036 |
+
"mean_std_embedding_keys": null,
|
| 2037 |
+
"action_configs": null
|
| 2038 |
+
}
|
| 2039 |
+
},
|
| 2040 |
+
"ucsd_kitchen_dataset_converted_externally_to_rlds": {
|
| 2041 |
+
"video": {
|
| 2042 |
+
"delta_indices": [
|
| 2043 |
+
-6,
|
| 2044 |
+
-4,
|
| 2045 |
+
-2,
|
| 2046 |
+
0
|
| 2047 |
+
],
|
| 2048 |
+
"modality_keys": [
|
| 2049 |
+
"primary"
|
| 2050 |
+
],
|
| 2051 |
+
"sin_cos_embedding_keys": null,
|
| 2052 |
+
"mean_std_embedding_keys": null,
|
| 2053 |
+
"action_configs": null
|
| 2054 |
+
},
|
| 2055 |
+
"state": {
|
| 2056 |
+
"delta_indices": [
|
| 2057 |
+
0
|
| 2058 |
+
],
|
| 2059 |
+
"modality_keys": [
|
| 2060 |
+
"joint_position"
|
| 2061 |
+
],
|
| 2062 |
+
"sin_cos_embedding_keys": null,
|
| 2063 |
+
"mean_std_embedding_keys": null,
|
| 2064 |
+
"action_configs": null
|
| 2065 |
+
},
|
| 2066 |
+
"action": {
|
| 2067 |
+
"delta_indices": [
|
| 2068 |
+
0,
|
| 2069 |
+
1,
|
| 2070 |
+
2,
|
| 2071 |
+
3,
|
| 2072 |
+
4,
|
| 2073 |
+
5,
|
| 2074 |
+
6,
|
| 2075 |
+
7,
|
| 2076 |
+
8,
|
| 2077 |
+
9,
|
| 2078 |
+
10,
|
| 2079 |
+
11,
|
| 2080 |
+
12,
|
| 2081 |
+
13,
|
| 2082 |
+
14,
|
| 2083 |
+
15
|
| 2084 |
+
],
|
| 2085 |
+
"modality_keys": [
|
| 2086 |
+
"end_effector_position",
|
| 2087 |
+
"end_effector_rotation",
|
| 2088 |
+
"gripper_close"
|
| 2089 |
+
],
|
| 2090 |
+
"sin_cos_embedding_keys": null,
|
| 2091 |
+
"mean_std_embedding_keys": null,
|
| 2092 |
+
"action_configs": [
|
| 2093 |
+
{
|
| 2094 |
+
"rep": "DELTA",
|
| 2095 |
+
"type": "EEF",
|
| 2096 |
+
"format": "DEFAULT",
|
| 2097 |
+
"state_key": null
|
| 2098 |
+
},
|
| 2099 |
+
{
|
| 2100 |
+
"rep": "DELTA",
|
| 2101 |
+
"type": "EEF",
|
| 2102 |
+
"format": "DEFAULT",
|
| 2103 |
+
"state_key": null
|
| 2104 |
+
},
|
| 2105 |
+
{
|
| 2106 |
+
"rep": "ABSOLUTE",
|
| 2107 |
+
"type": "NON_EEF",
|
| 2108 |
+
"format": "DEFAULT",
|
| 2109 |
+
"state_key": null
|
| 2110 |
+
}
|
| 2111 |
+
]
|
| 2112 |
+
},
|
| 2113 |
+
"language": {
|
| 2114 |
+
"delta_indices": [
|
| 2115 |
+
0
|
| 2116 |
+
],
|
| 2117 |
+
"modality_keys": [
|
| 2118 |
+
"annotation.human.action.task_description"
|
| 2119 |
+
],
|
| 2120 |
+
"sin_cos_embedding_keys": null,
|
| 2121 |
+
"mean_std_embedding_keys": null,
|
| 2122 |
+
"action_configs": null
|
| 2123 |
+
}
|
| 2124 |
+
},
|
| 2125 |
+
"austin_sirius_dataset_converted_externally_to_rlds": {
|
| 2126 |
+
"video": {
|
| 2127 |
+
"delta_indices": [
|
| 2128 |
+
-6,
|
| 2129 |
+
-4,
|
| 2130 |
+
-2,
|
| 2131 |
+
0
|
| 2132 |
+
],
|
| 2133 |
+
"modality_keys": [
|
| 2134 |
+
"primary",
|
| 2135 |
+
"wrist"
|
| 2136 |
+
],
|
| 2137 |
+
"sin_cos_embedding_keys": null,
|
| 2138 |
+
"mean_std_embedding_keys": null,
|
| 2139 |
+
"action_configs": null
|
| 2140 |
+
},
|
| 2141 |
+
"state": {
|
| 2142 |
+
"delta_indices": [
|
| 2143 |
+
0
|
| 2144 |
+
],
|
| 2145 |
+
"modality_keys": [
|
| 2146 |
+
"end_effector_position",
|
| 2147 |
+
"end_effector_rotation",
|
| 2148 |
+
"gripper_position"
|
| 2149 |
+
],
|
| 2150 |
+
"sin_cos_embedding_keys": null,
|
| 2151 |
+
"mean_std_embedding_keys": null,
|
| 2152 |
+
"action_configs": null
|
| 2153 |
+
},
|
| 2154 |
+
"action": {
|
| 2155 |
+
"delta_indices": [
|
| 2156 |
+
0,
|
| 2157 |
+
1,
|
| 2158 |
+
2,
|
| 2159 |
+
3,
|
| 2160 |
+
4,
|
| 2161 |
+
5,
|
| 2162 |
+
6,
|
| 2163 |
+
7,
|
| 2164 |
+
8,
|
| 2165 |
+
9,
|
| 2166 |
+
10,
|
| 2167 |
+
11,
|
| 2168 |
+
12,
|
| 2169 |
+
13,
|
| 2170 |
+
14,
|
| 2171 |
+
15
|
| 2172 |
+
],
|
| 2173 |
+
"modality_keys": [
|
| 2174 |
+
"end_effector_position",
|
| 2175 |
+
"end_effector_rotation",
|
| 2176 |
+
"gripper_close"
|
| 2177 |
+
],
|
| 2178 |
+
"sin_cos_embedding_keys": null,
|
| 2179 |
+
"mean_std_embedding_keys": null,
|
| 2180 |
+
"action_configs": [
|
| 2181 |
+
{
|
| 2182 |
+
"rep": "DELTA",
|
| 2183 |
+
"type": "EEF",
|
| 2184 |
+
"format": "DEFAULT",
|
| 2185 |
+
"state_key": null
|
| 2186 |
+
},
|
| 2187 |
+
{
|
| 2188 |
+
"rep": "DELTA",
|
| 2189 |
+
"type": "EEF",
|
| 2190 |
+
"format": "DEFAULT",
|
| 2191 |
+
"state_key": null
|
| 2192 |
+
},
|
| 2193 |
+
{
|
| 2194 |
+
"rep": "ABSOLUTE",
|
| 2195 |
+
"type": "NON_EEF",
|
| 2196 |
+
"format": "DEFAULT",
|
| 2197 |
+
"state_key": null
|
| 2198 |
+
}
|
| 2199 |
+
]
|
| 2200 |
+
},
|
| 2201 |
+
"language": {
|
| 2202 |
+
"delta_indices": [
|
| 2203 |
+
0
|
| 2204 |
+
],
|
| 2205 |
+
"modality_keys": [
|
| 2206 |
+
"annotation.human.action.task_description"
|
| 2207 |
+
],
|
| 2208 |
+
"sin_cos_embedding_keys": null,
|
| 2209 |
+
"mean_std_embedding_keys": null,
|
| 2210 |
+
"action_configs": null
|
| 2211 |
+
}
|
| 2212 |
+
},
|
| 2213 |
+
"droid": {
|
| 2214 |
+
"video": {
|
| 2215 |
+
"delta_indices": [
|
| 2216 |
+
-6,
|
| 2217 |
+
-4,
|
| 2218 |
+
-2,
|
| 2219 |
+
0
|
| 2220 |
+
],
|
| 2221 |
+
"modality_keys": [
|
| 2222 |
+
"primary",
|
| 2223 |
+
"secondary",
|
| 2224 |
+
"wrist"
|
| 2225 |
+
],
|
| 2226 |
+
"sin_cos_embedding_keys": null,
|
| 2227 |
+
"mean_std_embedding_keys": null,
|
| 2228 |
+
"action_configs": null
|
| 2229 |
+
},
|
| 2230 |
+
"state": {
|
| 2231 |
+
"delta_indices": [
|
| 2232 |
+
0
|
| 2233 |
+
],
|
| 2234 |
+
"modality_keys": [
|
| 2235 |
+
"end_effector_position",
|
| 2236 |
+
"end_effector_rotation",
|
| 2237 |
+
"gripper_position"
|
| 2238 |
+
],
|
| 2239 |
+
"sin_cos_embedding_keys": null,
|
| 2240 |
+
"mean_std_embedding_keys": null,
|
| 2241 |
+
"action_configs": null
|
| 2242 |
+
},
|
| 2243 |
+
"action": {
|
| 2244 |
+
"delta_indices": [
|
| 2245 |
+
0,
|
| 2246 |
+
1,
|
| 2247 |
+
2,
|
| 2248 |
+
3,
|
| 2249 |
+
4,
|
| 2250 |
+
5,
|
| 2251 |
+
6,
|
| 2252 |
+
7,
|
| 2253 |
+
8,
|
| 2254 |
+
9,
|
| 2255 |
+
10,
|
| 2256 |
+
11,
|
| 2257 |
+
12,
|
| 2258 |
+
13,
|
| 2259 |
+
14,
|
| 2260 |
+
15
|
| 2261 |
+
],
|
| 2262 |
+
"modality_keys": [
|
| 2263 |
+
"end_effector_position",
|
| 2264 |
+
"end_effector_rotation",
|
| 2265 |
+
"gripper_close"
|
| 2266 |
+
],
|
| 2267 |
+
"sin_cos_embedding_keys": null,
|
| 2268 |
+
"mean_std_embedding_keys": null,
|
| 2269 |
+
"action_configs": [
|
| 2270 |
+
{
|
| 2271 |
+
"rep": "DELTA",
|
| 2272 |
+
"type": "EEF",
|
| 2273 |
+
"format": "DEFAULT",
|
| 2274 |
+
"state_key": null
|
| 2275 |
+
},
|
| 2276 |
+
{
|
| 2277 |
+
"rep": "DELTA",
|
| 2278 |
+
"type": "EEF",
|
| 2279 |
+
"format": "DEFAULT",
|
| 2280 |
+
"state_key": null
|
| 2281 |
+
},
|
| 2282 |
+
{
|
| 2283 |
+
"rep": "ABSOLUTE",
|
| 2284 |
+
"type": "NON_EEF",
|
| 2285 |
+
"format": "DEFAULT",
|
| 2286 |
+
"state_key": null
|
| 2287 |
+
}
|
| 2288 |
+
]
|
| 2289 |
+
},
|
| 2290 |
+
"language": {
|
| 2291 |
+
"delta_indices": [
|
| 2292 |
+
0
|
| 2293 |
+
],
|
| 2294 |
+
"modality_keys": [
|
| 2295 |
+
"annotation.human.action.task_description"
|
| 2296 |
+
],
|
| 2297 |
+
"sin_cos_embedding_keys": null,
|
| 2298 |
+
"mean_std_embedding_keys": null,
|
| 2299 |
+
"action_configs": null
|
| 2300 |
+
}
|
| 2301 |
+
},
|
| 2302 |
+
"bc_z": {
|
| 2303 |
+
"video": {
|
| 2304 |
+
"delta_indices": [
|
| 2305 |
+
-6,
|
| 2306 |
+
-4,
|
| 2307 |
+
-2,
|
| 2308 |
+
0
|
| 2309 |
+
],
|
| 2310 |
+
"modality_keys": [
|
| 2311 |
+
"primary"
|
| 2312 |
+
],
|
| 2313 |
+
"sin_cos_embedding_keys": null,
|
| 2314 |
+
"mean_std_embedding_keys": null,
|
| 2315 |
+
"action_configs": null
|
| 2316 |
+
},
|
| 2317 |
+
"state": {
|
| 2318 |
+
"delta_indices": [
|
| 2319 |
+
0
|
| 2320 |
+
],
|
| 2321 |
+
"modality_keys": [
|
| 2322 |
+
"end_effector_position",
|
| 2323 |
+
"end_effector_rotation",
|
| 2324 |
+
"gripper_position"
|
| 2325 |
+
],
|
| 2326 |
+
"sin_cos_embedding_keys": null,
|
| 2327 |
+
"mean_std_embedding_keys": null,
|
| 2328 |
+
"action_configs": null
|
| 2329 |
+
},
|
| 2330 |
+
"action": {
|
| 2331 |
+
"delta_indices": [
|
| 2332 |
+
0,
|
| 2333 |
+
1,
|
| 2334 |
+
2,
|
| 2335 |
+
3,
|
| 2336 |
+
4,
|
| 2337 |
+
5,
|
| 2338 |
+
6,
|
| 2339 |
+
7,
|
| 2340 |
+
8,
|
| 2341 |
+
9,
|
| 2342 |
+
10,
|
| 2343 |
+
11,
|
| 2344 |
+
12,
|
| 2345 |
+
13,
|
| 2346 |
+
14,
|
| 2347 |
+
15
|
| 2348 |
+
],
|
| 2349 |
+
"modality_keys": [
|
| 2350 |
+
"end_effector_position",
|
| 2351 |
+
"end_effector_rotation",
|
| 2352 |
+
"gripper_close"
|
| 2353 |
+
],
|
| 2354 |
+
"sin_cos_embedding_keys": null,
|
| 2355 |
+
"mean_std_embedding_keys": null,
|
| 2356 |
+
"action_configs": [
|
| 2357 |
+
{
|
| 2358 |
+
"rep": "DELTA",
|
| 2359 |
+
"type": "EEF",
|
| 2360 |
+
"format": "DEFAULT",
|
| 2361 |
+
"state_key": null
|
| 2362 |
+
},
|
| 2363 |
+
{
|
| 2364 |
+
"rep": "DELTA",
|
| 2365 |
+
"type": "EEF",
|
| 2366 |
+
"format": "DEFAULT",
|
| 2367 |
+
"state_key": null
|
| 2368 |
+
},
|
| 2369 |
+
{
|
| 2370 |
+
"rep": "ABSOLUTE",
|
| 2371 |
+
"type": "NON_EEF",
|
| 2372 |
+
"format": "DEFAULT",
|
| 2373 |
+
"state_key": null
|
| 2374 |
+
}
|
| 2375 |
+
]
|
| 2376 |
+
},
|
| 2377 |
+
"language": {
|
| 2378 |
+
"delta_indices": [
|
| 2379 |
+
0
|
| 2380 |
+
],
|
| 2381 |
+
"modality_keys": [
|
| 2382 |
+
"annotation.human.action.task_description"
|
| 2383 |
+
],
|
| 2384 |
+
"sin_cos_embedding_keys": null,
|
| 2385 |
+
"mean_std_embedding_keys": null,
|
| 2386 |
+
"action_configs": null
|
| 2387 |
+
}
|
| 2388 |
+
},
|
| 2389 |
+
"kuka": {
|
| 2390 |
+
"video": {
|
| 2391 |
+
"delta_indices": [
|
| 2392 |
+
-6,
|
| 2393 |
+
-4,
|
| 2394 |
+
-2,
|
| 2395 |
+
0
|
| 2396 |
+
],
|
| 2397 |
+
"modality_keys": [
|
| 2398 |
+
"primary"
|
| 2399 |
+
],
|
| 2400 |
+
"sin_cos_embedding_keys": null,
|
| 2401 |
+
"mean_std_embedding_keys": null,
|
| 2402 |
+
"action_configs": null
|
| 2403 |
+
},
|
| 2404 |
+
"state": {
|
| 2405 |
+
"delta_indices": [
|
| 2406 |
+
0
|
| 2407 |
+
],
|
| 2408 |
+
"modality_keys": [
|
| 2409 |
+
"end_effector_position",
|
| 2410 |
+
"end_effector_rotation",
|
| 2411 |
+
"gripper_position"
|
| 2412 |
+
],
|
| 2413 |
+
"sin_cos_embedding_keys": null,
|
| 2414 |
+
"mean_std_embedding_keys": null,
|
| 2415 |
+
"action_configs": null
|
| 2416 |
+
},
|
| 2417 |
+
"action": {
|
| 2418 |
+
"delta_indices": [
|
| 2419 |
+
0,
|
| 2420 |
+
1,
|
| 2421 |
+
2,
|
| 2422 |
+
3,
|
| 2423 |
+
4,
|
| 2424 |
+
5,
|
| 2425 |
+
6,
|
| 2426 |
+
7,
|
| 2427 |
+
8,
|
| 2428 |
+
9,
|
| 2429 |
+
10,
|
| 2430 |
+
11,
|
| 2431 |
+
12,
|
| 2432 |
+
13,
|
| 2433 |
+
14,
|
| 2434 |
+
15
|
| 2435 |
+
],
|
| 2436 |
+
"modality_keys": [
|
| 2437 |
+
"end_effector_position",
|
| 2438 |
+
"end_effector_rotation",
|
| 2439 |
+
"gripper_close"
|
| 2440 |
+
],
|
| 2441 |
+
"sin_cos_embedding_keys": null,
|
| 2442 |
+
"mean_std_embedding_keys": null,
|
| 2443 |
+
"action_configs": [
|
| 2444 |
+
{
|
| 2445 |
+
"rep": "DELTA",
|
| 2446 |
+
"type": "EEF",
|
| 2447 |
+
"format": "DEFAULT",
|
| 2448 |
+
"state_key": null
|
| 2449 |
+
},
|
| 2450 |
+
{
|
| 2451 |
+
"rep": "DELTA",
|
| 2452 |
+
"type": "EEF",
|
| 2453 |
+
"format": "DEFAULT",
|
| 2454 |
+
"state_key": null
|
| 2455 |
+
},
|
| 2456 |
+
{
|
| 2457 |
+
"rep": "ABSOLUTE",
|
| 2458 |
+
"type": "NON_EEF",
|
| 2459 |
+
"format": "DEFAULT",
|
| 2460 |
+
"state_key": null
|
| 2461 |
+
}
|
| 2462 |
+
]
|
| 2463 |
+
},
|
| 2464 |
+
"language": {
|
| 2465 |
+
"delta_indices": [
|
| 2466 |
+
0
|
| 2467 |
+
],
|
| 2468 |
+
"modality_keys": [
|
| 2469 |
+
"annotation.human.action.task_description"
|
| 2470 |
+
],
|
| 2471 |
+
"sin_cos_embedding_keys": null,
|
| 2472 |
+
"mean_std_embedding_keys": null,
|
| 2473 |
+
"action_configs": null
|
| 2474 |
+
}
|
| 2475 |
+
},
|
| 2476 |
+
"agibot_dexhand": {
|
| 2477 |
+
"video": {
|
| 2478 |
+
"delta_indices": [
|
| 2479 |
+
-6,
|
| 2480 |
+
-4,
|
| 2481 |
+
-2,
|
| 2482 |
+
0
|
| 2483 |
+
],
|
| 2484 |
+
"modality_keys": [
|
| 2485 |
+
"primary"
|
| 2486 |
+
],
|
| 2487 |
+
"sin_cos_embedding_keys": null,
|
| 2488 |
+
"mean_std_embedding_keys": null,
|
| 2489 |
+
"action_configs": null
|
| 2490 |
+
},
|
| 2491 |
+
"state": {
|
| 2492 |
+
"delta_indices": [
|
| 2493 |
+
0
|
| 2494 |
+
],
|
| 2495 |
+
"modality_keys": [
|
| 2496 |
+
"state"
|
| 2497 |
+
],
|
| 2498 |
+
"sin_cos_embedding_keys": null,
|
| 2499 |
+
"mean_std_embedding_keys": null,
|
| 2500 |
+
"action_configs": null
|
| 2501 |
+
},
|
| 2502 |
+
"action": {
|
| 2503 |
+
"delta_indices": [
|
| 2504 |
+
0,
|
| 2505 |
+
1,
|
| 2506 |
+
2,
|
| 2507 |
+
3,
|
| 2508 |
+
4,
|
| 2509 |
+
5,
|
| 2510 |
+
6,
|
| 2511 |
+
7,
|
| 2512 |
+
8,
|
| 2513 |
+
9,
|
| 2514 |
+
10,
|
| 2515 |
+
11,
|
| 2516 |
+
12,
|
| 2517 |
+
13,
|
| 2518 |
+
14,
|
| 2519 |
+
15
|
| 2520 |
+
],
|
| 2521 |
+
"modality_keys": [
|
| 2522 |
+
"action"
|
| 2523 |
+
],
|
| 2524 |
+
"sin_cos_embedding_keys": null,
|
| 2525 |
+
"mean_std_embedding_keys": null,
|
| 2526 |
+
"action_configs": [
|
| 2527 |
+
{
|
| 2528 |
+
"rep": "ABSOLUTE",
|
| 2529 |
+
"type": "NON_EEF",
|
| 2530 |
+
"format": "DEFAULT",
|
| 2531 |
+
"state_key": null
|
| 2532 |
+
}
|
| 2533 |
+
]
|
| 2534 |
+
},
|
| 2535 |
+
"language": {
|
| 2536 |
+
"delta_indices": [
|
| 2537 |
+
0
|
| 2538 |
+
],
|
| 2539 |
+
"modality_keys": [
|
| 2540 |
+
"annotation.human.action.task_description"
|
| 2541 |
+
],
|
| 2542 |
+
"sin_cos_embedding_keys": null,
|
| 2543 |
+
"mean_std_embedding_keys": null,
|
| 2544 |
+
"action_configs": null
|
| 2545 |
+
}
|
| 2546 |
+
},
|
| 2547 |
+
"action_net": {
|
| 2548 |
+
"video": {
|
| 2549 |
+
"delta_indices": [
|
| 2550 |
+
-6,
|
| 2551 |
+
-4,
|
| 2552 |
+
-2,
|
| 2553 |
+
0
|
| 2554 |
+
],
|
| 2555 |
+
"modality_keys": [
|
| 2556 |
+
"primary"
|
| 2557 |
+
],
|
| 2558 |
+
"sin_cos_embedding_keys": null,
|
| 2559 |
+
"mean_std_embedding_keys": null,
|
| 2560 |
+
"action_configs": null
|
| 2561 |
+
},
|
| 2562 |
+
"state": {
|
| 2563 |
+
"delta_indices": [
|
| 2564 |
+
0
|
| 2565 |
+
],
|
| 2566 |
+
"modality_keys": [
|
| 2567 |
+
"state"
|
| 2568 |
+
],
|
| 2569 |
+
"sin_cos_embedding_keys": null,
|
| 2570 |
+
"mean_std_embedding_keys": null,
|
| 2571 |
+
"action_configs": null
|
| 2572 |
+
},
|
| 2573 |
+
"action": {
|
| 2574 |
+
"delta_indices": [
|
| 2575 |
+
0,
|
| 2576 |
+
1,
|
| 2577 |
+
2,
|
| 2578 |
+
3,
|
| 2579 |
+
4,
|
| 2580 |
+
5,
|
| 2581 |
+
6,
|
| 2582 |
+
7,
|
| 2583 |
+
8,
|
| 2584 |
+
9,
|
| 2585 |
+
10,
|
| 2586 |
+
11,
|
| 2587 |
+
12,
|
| 2588 |
+
13,
|
| 2589 |
+
14,
|
| 2590 |
+
15
|
| 2591 |
+
],
|
| 2592 |
+
"modality_keys": [
|
| 2593 |
+
"action"
|
| 2594 |
+
],
|
| 2595 |
+
"sin_cos_embedding_keys": null,
|
| 2596 |
+
"mean_std_embedding_keys": null,
|
| 2597 |
+
"action_configs": [
|
| 2598 |
+
{
|
| 2599 |
+
"rep": "ABSOLUTE",
|
| 2600 |
+
"type": "NON_EEF",
|
| 2601 |
+
"format": "DEFAULT",
|
| 2602 |
+
"state_key": null
|
| 2603 |
+
}
|
| 2604 |
+
]
|
| 2605 |
+
},
|
| 2606 |
+
"language": {
|
| 2607 |
+
"delta_indices": [
|
| 2608 |
+
0
|
| 2609 |
+
],
|
| 2610 |
+
"modality_keys": [
|
| 2611 |
+
"annotation.human.action.task_description"
|
| 2612 |
+
],
|
| 2613 |
+
"sin_cos_embedding_keys": null,
|
| 2614 |
+
"mean_std_embedding_keys": null,
|
| 2615 |
+
"action_configs": null
|
| 2616 |
+
}
|
| 2617 |
+
},
|
| 2618 |
+
"galaxea": {
|
| 2619 |
+
"video": {
|
| 2620 |
+
"delta_indices": [
|
| 2621 |
+
-6,
|
| 2622 |
+
-4,
|
| 2623 |
+
-2,
|
| 2624 |
+
0
|
| 2625 |
+
],
|
| 2626 |
+
"modality_keys": [
|
| 2627 |
+
"primary",
|
| 2628 |
+
"wrist_left",
|
| 2629 |
+
"wrist_right"
|
| 2630 |
+
],
|
| 2631 |
+
"sin_cos_embedding_keys": null,
|
| 2632 |
+
"mean_std_embedding_keys": null,
|
| 2633 |
+
"action_configs": null
|
| 2634 |
+
},
|
| 2635 |
+
"state": {
|
| 2636 |
+
"delta_indices": [
|
| 2637 |
+
0
|
| 2638 |
+
],
|
| 2639 |
+
"modality_keys": [
|
| 2640 |
+
"state"
|
| 2641 |
+
],
|
| 2642 |
+
"sin_cos_embedding_keys": null,
|
| 2643 |
+
"mean_std_embedding_keys": null,
|
| 2644 |
+
"action_configs": null
|
| 2645 |
+
},
|
| 2646 |
+
"action": {
|
| 2647 |
+
"delta_indices": [
|
| 2648 |
+
0,
|
| 2649 |
+
1,
|
| 2650 |
+
2,
|
| 2651 |
+
3,
|
| 2652 |
+
4,
|
| 2653 |
+
5,
|
| 2654 |
+
6,
|
| 2655 |
+
7,
|
| 2656 |
+
8,
|
| 2657 |
+
9,
|
| 2658 |
+
10,
|
| 2659 |
+
11,
|
| 2660 |
+
12,
|
| 2661 |
+
13,
|
| 2662 |
+
14,
|
| 2663 |
+
15
|
| 2664 |
+
],
|
| 2665 |
+
"modality_keys": [
|
| 2666 |
+
"action"
|
| 2667 |
+
],
|
| 2668 |
+
"sin_cos_embedding_keys": null,
|
| 2669 |
+
"mean_std_embedding_keys": null,
|
| 2670 |
+
"action_configs": [
|
| 2671 |
+
{
|
| 2672 |
+
"rep": "ABSOLUTE",
|
| 2673 |
+
"type": "NON_EEF",
|
| 2674 |
+
"format": "DEFAULT",
|
| 2675 |
+
"state_key": null
|
| 2676 |
+
}
|
| 2677 |
+
]
|
| 2678 |
+
},
|
| 2679 |
+
"language": {
|
| 2680 |
+
"delta_indices": [
|
| 2681 |
+
0
|
| 2682 |
+
],
|
| 2683 |
+
"modality_keys": [
|
| 2684 |
+
"annotation.human.action.task_description"
|
| 2685 |
+
],
|
| 2686 |
+
"sin_cos_embedding_keys": null,
|
| 2687 |
+
"mean_std_embedding_keys": null,
|
| 2688 |
+
"action_configs": null
|
| 2689 |
+
}
|
| 2690 |
+
},
|
| 2691 |
+
"roboturk": {
|
| 2692 |
+
"video": {
|
| 2693 |
+
"delta_indices": [
|
| 2694 |
+
-6,
|
| 2695 |
+
-4,
|
| 2696 |
+
-2,
|
| 2697 |
+
0
|
| 2698 |
+
],
|
| 2699 |
+
"modality_keys": [
|
| 2700 |
+
"primary"
|
| 2701 |
+
],
|
| 2702 |
+
"sin_cos_embedding_keys": null,
|
| 2703 |
+
"mean_std_embedding_keys": null,
|
| 2704 |
+
"action_configs": null
|
| 2705 |
+
},
|
| 2706 |
+
"state": {
|
| 2707 |
+
"delta_indices": [
|
| 2708 |
+
0
|
| 2709 |
+
],
|
| 2710 |
+
"modality_keys": [
|
| 2711 |
+
"none"
|
| 2712 |
+
],
|
| 2713 |
+
"sin_cos_embedding_keys": null,
|
| 2714 |
+
"mean_std_embedding_keys": null,
|
| 2715 |
+
"action_configs": null
|
| 2716 |
+
},
|
| 2717 |
+
"action": {
|
| 2718 |
+
"delta_indices": [
|
| 2719 |
+
0,
|
| 2720 |
+
1,
|
| 2721 |
+
2,
|
| 2722 |
+
3,
|
| 2723 |
+
4,
|
| 2724 |
+
5,
|
| 2725 |
+
6,
|
| 2726 |
+
7,
|
| 2727 |
+
8,
|
| 2728 |
+
9,
|
| 2729 |
+
10,
|
| 2730 |
+
11,
|
| 2731 |
+
12,
|
| 2732 |
+
13,
|
| 2733 |
+
14,
|
| 2734 |
+
15
|
| 2735 |
+
],
|
| 2736 |
+
"modality_keys": [
|
| 2737 |
+
"end_effector_position",
|
| 2738 |
+
"end_effector_rotation",
|
| 2739 |
+
"gripper_close"
|
| 2740 |
+
],
|
| 2741 |
+
"sin_cos_embedding_keys": null,
|
| 2742 |
+
"mean_std_embedding_keys": null,
|
| 2743 |
+
"action_configs": [
|
| 2744 |
+
{
|
| 2745 |
+
"rep": "DELTA",
|
| 2746 |
+
"type": "EEF",
|
| 2747 |
+
"format": "DEFAULT",
|
| 2748 |
+
"state_key": null
|
| 2749 |
+
},
|
| 2750 |
+
{
|
| 2751 |
+
"rep": "DELTA",
|
| 2752 |
+
"type": "EEF",
|
| 2753 |
+
"format": "DEFAULT",
|
| 2754 |
+
"state_key": null
|
| 2755 |
+
},
|
| 2756 |
+
{
|
| 2757 |
+
"rep": "ABSOLUTE",
|
| 2758 |
+
"type": "NON_EEF",
|
| 2759 |
+
"format": "DEFAULT",
|
| 2760 |
+
"state_key": null
|
| 2761 |
+
}
|
| 2762 |
+
]
|
| 2763 |
+
},
|
| 2764 |
+
"language": {
|
| 2765 |
+
"delta_indices": [
|
| 2766 |
+
0
|
| 2767 |
+
],
|
| 2768 |
+
"modality_keys": [
|
| 2769 |
+
"annotation.human.action.task_description"
|
| 2770 |
+
],
|
| 2771 |
+
"sin_cos_embedding_keys": null,
|
| 2772 |
+
"mean_std_embedding_keys": null,
|
| 2773 |
+
"action_configs": null
|
| 2774 |
+
}
|
| 2775 |
+
},
|
| 2776 |
+
"berkeley_fanuc_manipulation": {
|
| 2777 |
+
"video": {
|
| 2778 |
+
"delta_indices": [
|
| 2779 |
+
-6,
|
| 2780 |
+
-4,
|
| 2781 |
+
-2,
|
| 2782 |
+
0
|
| 2783 |
+
],
|
| 2784 |
+
"modality_keys": [
|
| 2785 |
+
"primary",
|
| 2786 |
+
"wrist"
|
| 2787 |
+
],
|
| 2788 |
+
"sin_cos_embedding_keys": null,
|
| 2789 |
+
"mean_std_embedding_keys": null,
|
| 2790 |
+
"action_configs": null
|
| 2791 |
+
},
|
| 2792 |
+
"state": {
|
| 2793 |
+
"delta_indices": [
|
| 2794 |
+
0
|
| 2795 |
+
],
|
| 2796 |
+
"modality_keys": [
|
| 2797 |
+
"joint_position",
|
| 2798 |
+
"gripper_position"
|
| 2799 |
+
],
|
| 2800 |
+
"sin_cos_embedding_keys": null,
|
| 2801 |
+
"mean_std_embedding_keys": null,
|
| 2802 |
+
"action_configs": null
|
| 2803 |
+
},
|
| 2804 |
+
"action": {
|
| 2805 |
+
"delta_indices": [
|
| 2806 |
+
0,
|
| 2807 |
+
1,
|
| 2808 |
+
2,
|
| 2809 |
+
3,
|
| 2810 |
+
4,
|
| 2811 |
+
5,
|
| 2812 |
+
6,
|
| 2813 |
+
7,
|
| 2814 |
+
8,
|
| 2815 |
+
9,
|
| 2816 |
+
10,
|
| 2817 |
+
11,
|
| 2818 |
+
12,
|
| 2819 |
+
13,
|
| 2820 |
+
14,
|
| 2821 |
+
15
|
| 2822 |
+
],
|
| 2823 |
+
"modality_keys": [
|
| 2824 |
+
"end_effector_position",
|
| 2825 |
+
"end_effector_rotation",
|
| 2826 |
+
"gripper_close"
|
| 2827 |
+
],
|
| 2828 |
+
"sin_cos_embedding_keys": null,
|
| 2829 |
+
"mean_std_embedding_keys": null,
|
| 2830 |
+
"action_configs": [
|
| 2831 |
+
{
|
| 2832 |
+
"rep": "DELTA",
|
| 2833 |
+
"type": "EEF",
|
| 2834 |
+
"format": "DEFAULT",
|
| 2835 |
+
"state_key": null
|
| 2836 |
+
},
|
| 2837 |
+
{
|
| 2838 |
+
"rep": "DELTA",
|
| 2839 |
+
"type": "EEF",
|
| 2840 |
+
"format": "DEFAULT",
|
| 2841 |
+
"state_key": null
|
| 2842 |
+
},
|
| 2843 |
+
{
|
| 2844 |
+
"rep": "ABSOLUTE",
|
| 2845 |
+
"type": "NON_EEF",
|
| 2846 |
+
"format": "DEFAULT",
|
| 2847 |
+
"state_key": null
|
| 2848 |
+
}
|
| 2849 |
+
]
|
| 2850 |
+
},
|
| 2851 |
+
"language": {
|
| 2852 |
+
"delta_indices": [
|
| 2853 |
+
0
|
| 2854 |
+
],
|
| 2855 |
+
"modality_keys": [
|
| 2856 |
+
"annotation.human.action.task_description"
|
| 2857 |
+
],
|
| 2858 |
+
"sin_cos_embedding_keys": null,
|
| 2859 |
+
"mean_std_embedding_keys": null,
|
| 2860 |
+
"action_configs": null
|
| 2861 |
+
}
|
| 2862 |
+
},
|
| 2863 |
+
"jaco_play": {
|
| 2864 |
+
"video": {
|
| 2865 |
+
"delta_indices": [
|
| 2866 |
+
-6,
|
| 2867 |
+
-4,
|
| 2868 |
+
-2,
|
| 2869 |
+
0
|
| 2870 |
+
],
|
| 2871 |
+
"modality_keys": [
|
| 2872 |
+
"primary",
|
| 2873 |
+
"wrist"
|
| 2874 |
+
],
|
| 2875 |
+
"sin_cos_embedding_keys": null,
|
| 2876 |
+
"mean_std_embedding_keys": null,
|
| 2877 |
+
"action_configs": null
|
| 2878 |
+
},
|
| 2879 |
+
"state": {
|
| 2880 |
+
"delta_indices": [
|
| 2881 |
+
0
|
| 2882 |
+
],
|
| 2883 |
+
"modality_keys": [
|
| 2884 |
+
"end_effector_position",
|
| 2885 |
+
"end_effector_rotation",
|
| 2886 |
+
"gripper_position"
|
| 2887 |
+
],
|
| 2888 |
+
"sin_cos_embedding_keys": null,
|
| 2889 |
+
"mean_std_embedding_keys": null,
|
| 2890 |
+
"action_configs": null
|
| 2891 |
+
},
|
| 2892 |
+
"action": {
|
| 2893 |
+
"delta_indices": [
|
| 2894 |
+
0,
|
| 2895 |
+
1,
|
| 2896 |
+
2,
|
| 2897 |
+
3,
|
| 2898 |
+
4,
|
| 2899 |
+
5,
|
| 2900 |
+
6,
|
| 2901 |
+
7,
|
| 2902 |
+
8,
|
| 2903 |
+
9,
|
| 2904 |
+
10,
|
| 2905 |
+
11,
|
| 2906 |
+
12,
|
| 2907 |
+
13,
|
| 2908 |
+
14,
|
| 2909 |
+
15
|
| 2910 |
+
],
|
| 2911 |
+
"modality_keys": [
|
| 2912 |
+
"end_effector_position",
|
| 2913 |
+
"end_effector_rotation",
|
| 2914 |
+
"gripper_close"
|
| 2915 |
+
],
|
| 2916 |
+
"sin_cos_embedding_keys": null,
|
| 2917 |
+
"mean_std_embedding_keys": null,
|
| 2918 |
+
"action_configs": [
|
| 2919 |
+
{
|
| 2920 |
+
"rep": "DELTA",
|
| 2921 |
+
"type": "EEF",
|
| 2922 |
+
"format": "DEFAULT",
|
| 2923 |
+
"state_key": null
|
| 2924 |
+
},
|
| 2925 |
+
{
|
| 2926 |
+
"rep": "DELTA",
|
| 2927 |
+
"type": "EEF",
|
| 2928 |
+
"format": "DEFAULT",
|
| 2929 |
+
"state_key": null
|
| 2930 |
+
},
|
| 2931 |
+
{
|
| 2932 |
+
"rep": "ABSOLUTE",
|
| 2933 |
+
"type": "NON_EEF",
|
| 2934 |
+
"format": "DEFAULT",
|
| 2935 |
+
"state_key": null
|
| 2936 |
+
}
|
| 2937 |
+
]
|
| 2938 |
+
},
|
| 2939 |
+
"language": {
|
| 2940 |
+
"delta_indices": [
|
| 2941 |
+
0
|
| 2942 |
+
],
|
| 2943 |
+
"modality_keys": [
|
| 2944 |
+
"annotation.human.action.task_description"
|
| 2945 |
+
],
|
| 2946 |
+
"sin_cos_embedding_keys": null,
|
| 2947 |
+
"mean_std_embedding_keys": null,
|
| 2948 |
+
"action_configs": null
|
| 2949 |
+
}
|
| 2950 |
+
}
|
| 2951 |
+
},
|
| 2952 |
+
"random_rotation_angle": null,
|
| 2953 |
+
"color_jitter_params": {
|
| 2954 |
+
"brightness": 0.3,
|
| 2955 |
+
"contrast": 0.4,
|
| 2956 |
+
"saturation": 0.5,
|
| 2957 |
+
"hue": 0.08
|
| 2958 |
+
},
|
| 2959 |
+
"model_name": "RLWRLD/RLDX-1-VLM",
|
| 2960 |
+
"model_type": "vtc_qwen3_vl",
|
| 2961 |
+
"formalize_language": true,
|
| 2962 |
+
"max_state_dim": 64,
|
| 2963 |
+
"max_action_dim": 64,
|
| 2964 |
+
"max_action_horizon": 16,
|
| 2965 |
+
"use_percentiles": true,
|
| 2966 |
+
"clip_outliers": true,
|
| 2967 |
+
"apply_sincos_state_encoding": false,
|
| 2968 |
+
"use_relative_action": true,
|
| 2969 |
+
"memory_length": 1,
|
| 2970 |
+
"general_embodiment_train_ratio": 0,
|
| 2971 |
+
"random_crop_fraction": 1.0,
|
| 2972 |
+
"image_max_area": null,
|
| 2973 |
+
"image_resize_m": 32
|
| 2974 |
+
}
|
| 2975 |
+
}
|
statistics.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
teaser.png
ADDED
|
Git LFS Details
|