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  1. part_3/precompute_metadata.json +65 -0
  2. part_3/test/episodes_000000001_000000500/episode_000000001.pt +3 -0
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part_3/precompute_metadata.json ADDED
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+ {
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+ "config": "configs/part3_rdt1b_lora32.yaml",
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+ "root": "dataset/hf_parts/part_3",
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+ "splits": [
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+ "train",
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+ "validation",
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+ "test"
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+ ],
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+ "datasets": [
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+ "bc_z",
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+ "bridge",
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+ "fractal",
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+ "kuka"
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+ ],
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+ "seed": 42,
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+ "stage": null,
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+ "stage_unit": "sampled_timestep",
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+ "stage_count": 3,
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+ "droid_stage_count": 2,
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+ "batch_size": 32,
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+ "episode_batch_size": 1,
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+ "episode_prefetch_size": 0,
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+ "async_write_workers": 0,
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+ "max_pending_writes": 32,
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+ "max_samples_per_episode": 32,
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+ "require_exact_samples_per_episode": true,
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+ "allow_short_episode_datasets": [
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+ "kuka"
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+ ],
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+ "all_samples_per_episode": false,
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+ "gripper_change_scope": "first_directional",
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+ "open_to_close_before": 4,
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+ "open_to_close_after": 4,
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+ "close_to_open_before": 4,
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+ "close_to_open_after": 4,
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+ "normalize_actions": true,
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+ "action_target_mode": "delta",
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+ "state_dim": 7,
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+ "action_dim": 7,
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+ "state_encoder_layout": "rdt_eef",
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+ "action_encoder_layout": "raw",
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+ "gripper_processing": "dataset-specific",
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+ "feature_set": "qwen_t5",
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+ "cache_layout": "episode_packs",
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+ "episode_shards_per_directory": 500,
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+ "qwen_cache_scope": "per_sample",
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+ "qwen_kv_granularity": "one_kv_per_sample_step",
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+ "qwen_anchors_per_episode": 2,
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+ "qwen_stop_at_think": true,
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+ "qwen_enable_thinking": false,
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+ "qwen_image_source": "primary_current_frame",
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+ "qwen_trajectory_prompt_template": "You are a robot manipulation assistant. Given an observation image and a task instruction, predict the end-effector's 2D trajectory as 5 waypoints. Output ONLY the coordinate list in this exact format: [[x1,y1],[x2,y2],[x3,y3],[x4,y4],[x5,y5]]\n\nTask: The task is {task}. What is the trajectory that the end effector should take?",
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+ "image_history_size": 2,
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+ "max_images_per_sample": 6,
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+ "image_storage_codec": "jpeg",
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+ "image_storage_lossless": false,
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+ "image_jpeg_quality": 90,
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+ "feature_storage": "compact_valid_tokens",
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+ "qwen_model_id": "shreethar/stage1_unsloth",
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+ "qwen_processor_id": "shreethar/stage1_unsloth",
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+ "qwen_layer_index": 7,
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+ "t5_model_id": "google/t5-v1_1-xxl",
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+ "t5_precision": "bf16",
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+ "siglip_model_id": "google/siglip-so400m-patch14-384"
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+ }
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