Upload folder using huggingface_hub
Browse files- config.json +107 -0
- model.safetensors +3 -0
- policy_postprocessor.json +32 -0
- policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- policy_preprocessor.json +80 -0
- policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
- train_config.json +257 -0
config.json
ADDED
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{
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"type": "diffusion",
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"n_obs_steps": 2,
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"input_features": {
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"observation.state": {
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"type": "STATE",
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"shape": [
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7
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]
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},
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"observation.images.Cam1_global": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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]
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},
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"observation.images.Cam1_local": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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]
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},
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"observation.images.Cam2_global": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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]
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},
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"observation.images.Cam2_local": {
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"type": "VISUAL",
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"shape": [
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3,
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256,
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256
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]
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}
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},
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"output_features": {
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"action": {
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"type": "ACTION",
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"shape": [
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14
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]
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}
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},
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"device": "cuda",
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"use_amp": false,
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"use_peft": false,
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"push_to_hub": false,
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"repo_id": null,
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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path": null,
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"horizon": 16,
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"n_action_steps": 8,
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"normalization_mapping": {
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"VISUAL": "MEAN_STD",
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"STATE": "MIN_MAX",
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"ACTION": "MIN_MAX"
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},
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"drop_n_last_frames": 7,
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"vision_backbone": "resnet18",
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"crop_shape": [
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224,
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224
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],
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"crop_is_random": true,
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"pretrained_backbone_weights": null,
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"use_group_norm": true,
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"spatial_softmax_num_keypoints": 32,
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"use_separate_rgb_encoder_per_camera": false,
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"down_dims": [
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512,
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1024,
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2048
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],
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"kernel_size": 5,
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"n_groups": 8,
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"diffusion_step_embed_dim": 128,
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"use_film_scale_modulation": true,
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"noise_scheduler_type": "DDPM",
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"num_train_timesteps": 100,
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"beta_schedule": "squaredcos_cap_v2",
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"beta_start": 0.0001,
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"beta_end": 0.02,
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"prediction_type": "epsilon",
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"clip_sample": true,
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"clip_sample_range": 1.0,
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| 96 |
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"num_inference_steps": null,
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| 97 |
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"do_mask_loss_for_padding": false,
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| 98 |
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"optimizer_lr": 0.0001,
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"optimizer_betas": [
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0.95,
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0.999
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 1e-06,
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"scheduler_name": "cosine",
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| 106 |
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"scheduler_warmup_steps": 500
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}
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model.safetensors
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version https://git-lfs.github.com/spec/v1
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+
oid sha256:ba5612dc5fe5b68bcf74ac36b3c09ca994df5c5e4ba1c4445c017dfc95bd20c9
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size 1096220944
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policy_postprocessor.json
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{
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"name": "policy_postprocessor",
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"steps": [
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{
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"registry_name": "unnormalizer_processor",
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"config": {
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"eps": 1e-08,
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"features": {
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"action": {
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"type": "ACTION",
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"shape": [
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}
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},
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"norm_map": {
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"VISUAL": "MEAN_STD",
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"STATE": "MIN_MAX",
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"ACTION": "MIN_MAX"
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}
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},
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
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},
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{
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| 25 |
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"registry_name": "device_processor",
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"config": {
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"device": "cpu",
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| 28 |
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"float_dtype": null
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}
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| 30 |
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}
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]
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}
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policy_postprocessor_step_0_unnormalizer_processor.safetensors
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version https://git-lfs.github.com/spec/v1
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+
oid sha256:4aa139a5c3524af4ccb19186e7e4663cbe027ac8d66dd5ea40a3e14d84cc84e1
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size 10164
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policy_preprocessor.json
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{
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"name": "policy_preprocessor",
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"steps": [
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{
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| 5 |
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"registry_name": "rename_observations_processor",
|
| 6 |
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"config": {
|
| 7 |
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"rename_map": {}
|
| 8 |
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}
|
| 9 |
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},
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| 10 |
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{
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| 11 |
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"registry_name": "to_batch_processor",
|
| 12 |
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"config": {}
|
| 13 |
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},
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| 14 |
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{
|
| 15 |
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"registry_name": "device_processor",
|
| 16 |
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"config": {
|
| 17 |
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"device": "cuda",
|
| 18 |
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"float_dtype": null
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| 19 |
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}
|
| 20 |
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},
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| 21 |
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{
|
| 22 |
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"registry_name": "normalizer_processor",
|
| 23 |
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"config": {
|
| 24 |
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"eps": 1e-08,
|
| 25 |
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"features": {
|
| 26 |
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"observation.state": {
|
| 27 |
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"type": "STATE",
|
| 28 |
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"shape": [
|
| 29 |
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7
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| 30 |
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]
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| 31 |
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},
|
| 32 |
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"observation.images.Cam1_global": {
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| 33 |
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"type": "VISUAL",
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| 34 |
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"shape": [
|
| 35 |
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3,
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| 36 |
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256,
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| 37 |
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256
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| 38 |
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]
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| 39 |
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},
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| 40 |
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"observation.images.Cam1_local": {
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| 41 |
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"type": "VISUAL",
|
| 42 |
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"shape": [
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| 43 |
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3,
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| 44 |
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256,
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| 45 |
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256
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| 46 |
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]
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| 47 |
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},
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| 48 |
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"observation.images.Cam2_global": {
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| 49 |
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"type": "VISUAL",
|
| 50 |
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"shape": [
|
| 51 |
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3,
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| 52 |
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256,
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| 53 |
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256
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| 54 |
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]
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| 55 |
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},
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| 56 |
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"observation.images.Cam2_local": {
|
| 57 |
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"type": "VISUAL",
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| 58 |
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"shape": [
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| 59 |
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3,
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| 60 |
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256,
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| 61 |
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256
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| 62 |
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]
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| 63 |
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},
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| 64 |
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"action": {
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| 65 |
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"type": "ACTION",
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| 66 |
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"shape": [
|
| 67 |
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14
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]
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| 69 |
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}
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| 70 |
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},
|
| 71 |
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"norm_map": {
|
| 72 |
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"VISUAL": "MEAN_STD",
|
| 73 |
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"STATE": "MIN_MAX",
|
| 74 |
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"ACTION": "MIN_MAX"
|
| 75 |
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}
|
| 76 |
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},
|
| 77 |
+
"state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
|
| 78 |
+
}
|
| 79 |
+
]
|
| 80 |
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}
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policy_preprocessor_step_3_normalizer_processor.safetensors
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:4aa139a5c3524af4ccb19186e7e4663cbe027ac8d66dd5ea40a3e14d84cc84e1
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| 3 |
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size 10164
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train_config.json
ADDED
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