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ActionCodec2

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actioncodec2
action-tokenization
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1 Parent(s): e9c1cc5

Publish audited ActionCodec2 release files

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Files changed (12) hide show
  1. actioncodec2-0.1.0.tar.gz +2 -2
  2. variants/extended-2nd-1mm-2k/profiles/eef/config.json +4 -0
  3. variants/extended-2nd-1mm-2k/profiles/eef/config.yaml +80 -0
  4. variants/extended-2nd-1mm-2k/profiles/eef/primitives.npz +3 -0
  5. variants/extended-2nd-1mm-2k/profiles/eef/processor_config.json +3 -0
  6. variants/extended-2nd-1mm-2k/router_config.yaml +120 -0
  7. variants/extended-2nd-1mm-4k/config.json +4 -0
  8. variants/extended-2nd-1mm-4k/processor_config.json +11 -0
  9. variants/extended-2nd-1mm-4k/profiles/eef/bpe.json +0 -0
  10. variants/extended-2nd-1mm-4k/profiles/eef/config.json +4 -0
  11. variants/extended-2nd-1mm-4k/profiles/eef/config.yaml +80 -0
  12. variants/extended-2nd-1mm-4k/profiles/eef/primitives.npz +3 -0
actioncodec2-0.1.0.tar.gz CHANGED
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variants/extended-2nd-1mm-2k/profiles/eef/config.json ADDED
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+ {
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+ "model_type": "actioncodec2_unified",
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+ "processor_class": "ActionCodec2Processor"
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+ }
variants/extended-2nd-1mm-2k/profiles/eef/config.yaml ADDED
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+ model_type: actioncodec2_unified
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+ config_version: 1
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+ physical:
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+ input_dim: 7
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+ components:
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+ translation_m:
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+ dims:
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+ start: 0
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+ stop: 3
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+ space: additive
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+ input_order: 0
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+ primitive_order: 2
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+ input_transform:
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+ scale: 1.0
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+ clip: false
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+ constraints:
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+ max: 2.0
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+ order_1:
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+ min: -0.08
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+ min: -0.025
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+ distortion_limit: 0.001
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+ primitive_selection: smooth
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+ orientation_so3:
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+ dims:
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+ start: 3
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+ stop: 6
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+ space: so3
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+ input_order: 0
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+ primitive_order: 2
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+ input_transform:
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+ clip: false
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+ constraints:
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+ order_1:
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+ min: -0.25
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+ distortion_limit: 0.004
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+ primitive_selection: smooth
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+ representation: rotation_vector
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+ multiplication: right
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+ gripper_open_command:
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+ dims:
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+ - 6
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+ space: additive
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+ input_order: 0
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+ input_transform:
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+ scale: 1.0
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+ clip: true
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+ constraints:
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+ order_0:
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+ max: 1.0
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+ distortion_limit: 0.5
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+ primitive_selection: nearest
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+ set_bpe:
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+ lookahead: 8
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+ allow_cross_component_merge: false
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+ train:
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+ primitives:
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+ zero_primitive_components:
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+ - translation_m
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+ - orientation_so3
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+ bpe:
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+ spatial_vocab_size: 1024
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+ vocab_size: 2048
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+ quality_control:
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+ hard_order_1_scale: 3.0
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+ min_segment_length: 2
variants/extended-2nd-1mm-2k/profiles/eef/primitives.npz ADDED
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variants/extended-2nd-1mm-2k/profiles/eef/processor_config.json ADDED
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+ }
variants/extended-2nd-1mm-2k/router_config.yaml ADDED
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+ model_type: actioncodec2_router
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+ config_version: 3
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+ profiles:
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+ - name: eef
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+ token_offset: 0
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+ token_budget: 2048
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+ artifact_fingerprint: b21f37eeabcad0eabc600454f4a018ff9805e4653905d50a1e1c5b29bb60ee71
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+ presets:
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+ - name: single_eef_abs
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+ input_dim: 7
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+ input: absolute
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+ source_hz: 15.0
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+ target_hz: 15.0
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+ interpolation: cubic
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+ components:
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+ arm:
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+ space: eef
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+ position_dims:
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+ rotation_dims:
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+ rotation_format: rotation_vector
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+ gripper_dim: 6
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+ gripper_threshold: 0.8
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+ gripper_open_is_high: true
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+ - name: single_eef_delta
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+ input_dim: 7
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+ input: delta
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+ source_hz: 15.0
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+ target_hz: 15.0
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+ interpolation: cubic
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+ components:
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+ arm:
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+ space: eef
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+ position_dims:
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+ - 0
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+ - 2
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+ rotation_dims:
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+ rotation_format: rotation_vector
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+ gripper_dim: 6
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+ gripper_threshold: 0.8
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+ gripper_open_is_high: true
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+ - name: dual_eef_abs
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+ input_dim: 14
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+ input: absolute
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+ source_hz: 15.0
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+ target_hz: 15.0
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+ interpolation: cubic
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+ components:
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+ left_arm:
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+ space: eef
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+ rotation_dims:
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+ rotation_format: rotation_vector
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+ gripper_dim: 6
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+ gripper_threshold: 0.8
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+ gripper_open_is_high: true
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+ right_arm:
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+ space: eef
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+ position_dims:
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+ - 7
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+ - 8
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+ - 9
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+ rotation_dims:
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+ - 10
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+ - 12
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+ rotation_format: rotation_vector
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+ gripper_dim: 13
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+ gripper_threshold: 0.8
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+ gripper_open_is_high: true
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+ - name: dual_eef_delta
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+ input_dim: 14
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+ input: delta
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+ source_hz: 15.0
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+ target_hz: 15.0
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+ interpolation: cubic
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+ components:
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+ left_arm:
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+ space: eef
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+ position_dims:
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+ rotation_dims:
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+ gripper_dim: 6
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+ gripper_open_is_high: true
variants/extended-2nd-1mm-4k/config.json ADDED
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+ {
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+ "model_type": "actioncodec2",
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+ "processor_class": "ActionCodec2"
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+ }
variants/extended-2nd-1mm-4k/processor_config.json ADDED
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+ {
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+ "processor_class": "ActionCodec2",
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+ "action_space": "single_eef_delta",
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+ "fitted_profiles": [
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+ "eef",
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+ "joint"
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+ ],
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+ "auto_map": {
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+ "AutoProcessor": "processing_actioncodec2.ActionCodec2"
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+ }
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+ }
variants/extended-2nd-1mm-4k/profiles/eef/bpe.json ADDED
The diff for this file is too large to render. See raw diff
 
variants/extended-2nd-1mm-4k/profiles/eef/config.json ADDED
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+ {
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+ "model_type": "actioncodec2_unified",
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+ "processor_class": "ActionCodec2Processor"
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+ }
variants/extended-2nd-1mm-4k/profiles/eef/config.yaml ADDED
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+ model_type: actioncodec2_unified
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+ config_version: 1
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+ physical:
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+ input_dim: 7
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+ components:
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+ translation_m:
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+ dims:
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+ start: 0
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+ stop: 3
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+ space: additive
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+ input_order: 0
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+ primitive_order: 2
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+ input_transform:
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+ scale: 1.0
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+ clip: false
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+ constraints:
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+ order_0:
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+ min: -2.0
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+ max: 2.0
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+ order_1:
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+ min: -0.08
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+ max: 0.08
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+ order_2:
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+ min: -0.025
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+ max: 0.025
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+ distortion_limit: 0.001
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+ primitive_selection: smooth
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+ orientation_so3:
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+ dims:
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+ start: 3
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+ stop: 6
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+ space: so3
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+ input_order: 0
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+ primitive_order: 2
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+ input_transform:
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+ scale: 1.0
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+ clip: false
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+ constraints:
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+ order_0:
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+ min: -3.141592653589793
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+ max: 3.141592653589793
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+ order_1:
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+ min: -0.25
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+ order_2:
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+ min: -0.08
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+ distortion_limit: 0.004
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+ primitive_selection: smooth
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+ representation: rotation_vector
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+ multiplication: right
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+ gripper_open_command:
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+ dims:
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+ - 6
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+ space: additive
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+ input_order: 0
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+ primitive_order: 0
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+ scale: 1.0
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+ clip: true
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+ constraints:
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+ primitive_selection: nearest
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+ set_bpe:
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+ lookahead: 8
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+ allow_cross_component_merge: false
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+ train:
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+ primitives:
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+ zero_primitive_components:
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+ - translation_m
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+ - orientation_so3
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+ bpe:
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+ spatial_vocab_size: 2048
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+ vocab_size: 4096
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+ quality_control:
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+ hard_order_1_scale: 3.0
80
+ min_segment_length: 2
variants/extended-2nd-1mm-4k/profiles/eef/primitives.npz ADDED
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