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- part_3/precompute_metadata.json +65 -0
- part_3/test/episodes_000000001_000000500/episode_000000001.pt +3 -0
- part_3/test/episodes_000000001_000000500/episode_000000002.pt +3 -0
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- part_3/test/episodes_000000001_000000500/episode_000000049.pt +3 -0
part_3/precompute_metadata.json
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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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