RotateValve: step 005000 weights
Browse files- RotateValve/config.json +79 -0
- RotateValve/model.safetensors +3 -0
- RotateValve/policy_postprocessor.json +32 -0
- RotateValve/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- RotateValve/policy_preprocessor.json +72 -0
- RotateValve/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
- RotateValve/train_config.json +563 -0
RotateValve/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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"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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"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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"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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"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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| 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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"private": null,
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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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}
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RotateValve/model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:957a9fb5d6da2b06f75cadc96dd5f1d25b1b67956c63d3e50881d9c87aa9a7e8
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size 206429432
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RotateValve/policy_postprocessor.json
ADDED
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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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{
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"registry_name": "unnormalizer_processor",
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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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"shape": [
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]
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}
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},
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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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"ACTION": "QUANTILES"
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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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"registry_name": "device_processor",
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"config": {
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"device": "cpu",
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"float_dtype": null
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}
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}
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]
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}
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RotateValve/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:ce357734e4942a37891e12d1d1d546efa14f70d156003dd33255010a73c28c0c
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size 16036
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RotateValve/policy_preprocessor.json
ADDED
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{
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"name": "policy_preprocessor",
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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": {
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| 7 |
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"rename_map": {}
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}
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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": {
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| 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,
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| 25 |
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"features": {
|
| 26 |
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"observation.images.cam_head": {
|
| 27 |
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"type": "VISUAL",
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| 28 |
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"shape": [
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| 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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},
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| 34 |
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"observation.images.cam_left_wrist": {
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| 35 |
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"type": "VISUAL",
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| 36 |
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"shape": [
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| 37 |
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3,
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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": {
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| 43 |
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"type": "VISUAL",
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| 44 |
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"shape": [
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| 45 |
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3,
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| 46 |
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256,
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| 47 |
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256
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| 48 |
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]
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| 49 |
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},
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| 50 |
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"observation.state": {
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| 51 |
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"type": "STATE",
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| 52 |
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"shape": [
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| 53 |
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16
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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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"action": {
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| 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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]
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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 |
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}
|
| 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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]
|
| 72 |
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}
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RotateValve/policy_preprocessor_step_3_normalizer_processor.safetensors
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:ce357734e4942a37891e12d1d1d546efa14f70d156003dd33255010a73c28c0c
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| 3 |
+
size 16036
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RotateValve/train_config.json
ADDED
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@@ -0,0 +1,563 @@
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|
| 1 |
+
{
|
| 2 |
+
"dataset": {
|
| 3 |
+
"repo_id": "roboeval_ee_delta_20hz_v3_merged",
|
| 4 |
+
"root": "/weka/helenw/data/huggingface/lerobot/roboeval_ee_delta_20hz_v3_merged",
|
| 5 |
+
"episodes": [
|
| 6 |
+
1887,
|
| 7 |
+
1888,
|
| 8 |
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1889,
|
| 9 |
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1890,
|
| 10 |
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| 11 |
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| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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1900,
|
| 20 |
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|
| 21 |
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|
| 22 |
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1903,
|
| 23 |
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|
| 24 |
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1905,
|
| 25 |
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|
| 26 |
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1907,
|
| 27 |
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1908,
|
| 28 |
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1909,
|
| 29 |
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1910,
|
| 30 |
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1911,
|
| 31 |
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1912,
|
| 32 |
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1913,
|
| 33 |
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1914,
|
| 34 |
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1915,
|
| 35 |
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1916,
|
| 36 |
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1917,
|
| 37 |
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1918,
|
| 38 |
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1919,
|
| 39 |
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1920,
|
| 40 |
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1921,
|
| 41 |
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1922,
|
| 42 |
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1923,
|
| 43 |
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1924,
|
| 44 |
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1925,
|
| 45 |
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1926,
|
| 46 |
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1927,
|
| 47 |
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1928,
|
| 48 |
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1929,
|
| 49 |
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1930,
|
| 50 |
+
1931,
|
| 51 |
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1932,
|
| 52 |
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1933,
|
| 53 |
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1934,
|
| 54 |
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1935,
|
| 55 |
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1936,
|
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1937,
|
| 57 |
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1938,
|
| 58 |
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1939,
|
| 59 |
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1940,
|
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1941,
|
| 61 |
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1942,
|
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1943,
|
| 63 |
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1944,
|
| 64 |
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1945,
|
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1946,
|
| 66 |
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1947,
|
| 67 |
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1948,
|
| 68 |
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1949,
|
| 69 |
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1950,
|
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1951,
|
| 71 |
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1952,
|
| 72 |
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1953,
|
| 73 |
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1954,
|
| 74 |
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1955,
|
| 75 |
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1956,
|
| 76 |
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1957,
|
| 77 |
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1958,
|
| 78 |
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1959,
|
| 79 |
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1960,
|
| 80 |
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1961,
|
| 81 |
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1962,
|
| 82 |
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1963,
|
| 83 |
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1964,
|
| 84 |
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1965,
|
| 85 |
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1966,
|
| 86 |
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1967,
|
| 87 |
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1968,
|
| 88 |
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1969,
|
| 89 |
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1970,
|
| 90 |
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1971,
|
| 91 |
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1972,
|
| 92 |
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1973,
|
| 93 |
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1974,
|
| 94 |
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1975,
|
| 95 |
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1976,
|
| 96 |
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1977,
|
| 97 |
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1978,
|
| 98 |
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1979,
|
| 99 |
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1980,
|
| 100 |
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1981,
|
| 101 |
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1982,
|
| 102 |
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1983,
|
| 103 |
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1984,
|
| 104 |
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1985,
|
| 105 |
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1986,
|
| 106 |
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1987,
|
| 107 |
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1988,
|
| 108 |
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1989,
|
| 109 |
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1990,
|
| 110 |
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1991,
|
| 111 |
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1992,
|
| 112 |
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1993,
|
| 113 |
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1994,
|
| 114 |
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1995,
|
| 115 |
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1996,
|
| 116 |
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1997,
|
| 117 |
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1998,
|
| 118 |
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1999,
|
| 119 |
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2000,
|
| 120 |
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2001,
|
| 121 |
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2002,
|
| 122 |
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2003,
|
| 123 |
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2004,
|
| 124 |
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2005,
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
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