PackBox: step 005000 weights
Browse files- PackBox/config.json +79 -0
- PackBox/model.safetensors +3 -0
- PackBox/policy_postprocessor.json +32 -0
- PackBox/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- PackBox/policy_preprocessor.json +72 -0
- PackBox/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
- PackBox/train_config.json +608 -0
PackBox/config.json
ADDED
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{
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"type": "act",
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| 3 |
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"n_obs_steps": 1,
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| 4 |
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"input_features": {
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| 5 |
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"observation.images.cam_head": {
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| 6 |
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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.cam_left_wrist": {
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| 14 |
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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.cam_right_wrist": {
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"type": "VISUAL",
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| 23 |
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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.state": {
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"type": "STATE",
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"shape": [
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16
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]
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}
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},
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"output_features": {
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| 37 |
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"action": {
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| 38 |
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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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| 44 |
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"device": "cuda",
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| 45 |
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"use_amp": false,
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| 46 |
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"use_peft": false,
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| 47 |
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"push_to_hub": false,
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| 48 |
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"repo_id": null,
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| 49 |
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"private": null,
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| 50 |
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"tags": null,
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| 51 |
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"license": null,
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| 52 |
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"pretrained_path": null,
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| 53 |
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"chunk_size": 16,
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| 54 |
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"n_action_steps": 8,
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| 55 |
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"normalization_mapping": {
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| 56 |
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"VISUAL": "MEAN_STD",
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| 57 |
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"STATE": "QUANTILES",
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| 58 |
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"ACTION": "QUANTILES"
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| 59 |
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},
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| 60 |
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"vision_backbone": "resnet18",
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| 61 |
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"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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| 62 |
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"replace_final_stride_with_dilation": false,
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| 63 |
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"pre_norm": false,
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| 64 |
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"dim_model": 512,
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| 65 |
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"n_heads": 8,
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| 66 |
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"dim_feedforward": 3200,
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| 67 |
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"feedforward_activation": "relu",
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| 68 |
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"n_encoder_layers": 4,
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| 69 |
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"n_decoder_layers": 1,
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| 70 |
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"use_vae": true,
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| 71 |
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"latent_dim": 32,
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| 72 |
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"n_vae_encoder_layers": 4,
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| 73 |
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"temporal_ensemble_coeff": null,
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| 74 |
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"dropout": 0.1,
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| 75 |
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"kl_weight": 0.01,
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| 76 |
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"optimizer_lr": 0.0001,
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| 77 |
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"optimizer_weight_decay": 0.0001,
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| 78 |
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"optimizer_lr_backbone": 1e-05
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| 79 |
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}
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PackBox/model.safetensors
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:db300ca88e191b2702b4284bf97afb9229c158f63ddb1f2e3af8bb6302ee7236
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| 3 |
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size 206429432
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PackBox/policy_postprocessor.json
ADDED
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@@ -0,0 +1,32 @@
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{
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"name": "policy_postprocessor",
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| 3 |
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"steps": [
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| 4 |
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{
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| 5 |
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"registry_name": "unnormalizer_processor",
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| 6 |
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"config": {
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| 7 |
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"eps": 1e-08,
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| 8 |
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"features": {
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| 9 |
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"action": {
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| 10 |
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"type": "ACTION",
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| 11 |
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"shape": [
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| 12 |
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14
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]
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}
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},
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| 16 |
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"norm_map": {
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| 17 |
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"VISUAL": "MEAN_STD",
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| 18 |
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"STATE": "QUANTILES",
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| 19 |
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"ACTION": "QUANTILES"
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| 20 |
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}
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| 21 |
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},
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| 22 |
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
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| 23 |
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},
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| 24 |
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{
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| 25 |
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"registry_name": "device_processor",
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| 26 |
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"config": {
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| 27 |
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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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| 32 |
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}
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PackBox/policy_postprocessor_step_0_unnormalizer_processor.safetensors
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:ce357734e4942a37891e12d1d1d546efa14f70d156003dd33255010a73c28c0c
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size 16036
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PackBox/policy_preprocessor.json
ADDED
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@@ -0,0 +1,72 @@
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{
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"name": "policy_preprocessor",
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| 3 |
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"steps": [
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| 4 |
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{
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| 5 |
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"registry_name": "rename_observations_processor",
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| 6 |
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"config": {
|
| 7 |
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"rename_map": {}
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| 8 |
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}
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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",
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| 12 |
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"config": {}
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| 13 |
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},
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| 14 |
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{
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| 15 |
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"registry_name": "device_processor",
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| 16 |
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"config": {
|
| 17 |
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"device": "cuda",
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| 18 |
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"float_dtype": null
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| 19 |
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}
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| 20 |
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},
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| 21 |
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{
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| 22 |
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"registry_name": "normalizer_processor",
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| 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.images.cam_head": {
|
| 27 |
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"type": "VISUAL",
|
| 28 |
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"shape": [
|
| 29 |
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3,
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| 30 |
+
256,
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| 31 |
+
256
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| 32 |
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]
|
| 33 |
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},
|
| 34 |
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"observation.images.cam_left_wrist": {
|
| 35 |
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"type": "VISUAL",
|
| 36 |
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"shape": [
|
| 37 |
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3,
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| 38 |
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256,
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| 39 |
+
256
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| 40 |
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]
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| 41 |
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},
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| 42 |
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"observation.images.cam_right_wrist": {
|
| 43 |
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"type": "VISUAL",
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| 44 |
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"shape": [
|
| 45 |
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3,
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| 46 |
+
256,
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| 47 |
+
256
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| 48 |
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]
|
| 49 |
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},
|
| 50 |
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"observation.state": {
|
| 51 |
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"type": "STATE",
|
| 52 |
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"shape": [
|
| 53 |
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16
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| 54 |
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]
|
| 55 |
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},
|
| 56 |
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"action": {
|
| 57 |
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"type": "ACTION",
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| 58 |
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"shape": [
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| 59 |
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14
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| 60 |
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]
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| 61 |
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}
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| 62 |
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},
|
| 63 |
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"norm_map": {
|
| 64 |
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"VISUAL": "MEAN_STD",
|
| 65 |
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"STATE": "QUANTILES",
|
| 66 |
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"ACTION": "QUANTILES"
|
| 67 |
+
}
|
| 68 |
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},
|
| 69 |
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"state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
|
| 70 |
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}
|
| 71 |
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]
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| 72 |
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}
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PackBox/policy_preprocessor_step_3_normalizer_processor.safetensors
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:ce357734e4942a37891e12d1d1d546efa14f70d156003dd33255010a73c28c0c
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| 3 |
+
size 16036
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PackBox/train_config.json
ADDED
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@@ -0,0 +1,608 @@
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| 1 |
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{
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| 2 |
+
"dataset": {
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| 3 |
+
"repo_id": "roboeval_ee_delta_20hz_v3_merged",
|
| 4 |
+
"root": "/weka/helenw/data/huggingface/lerobot/roboeval_ee_delta_20hz_v3_merged",
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