| ActiveScale |
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| This product includes software developed by Physical Intelligence and released |
| in the openpi repository under the Apache License 2.0: |
| https://github.com/Physical-Intelligence/openpi |
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| The ActiveScale development branch imported its openpi/pi0.5 base at fork |
| commit ad5ad045b0ac0c5bab05d951c426716aae40bf08. During public-release |
| preparation, the inherited tree and licenses were cross-checked against openpi |
| commit 215abfb217dbac7d5f1273282331b9b1866c0479. |
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| ActiveScale modifies the openpi PyTorch pi0.5 implementation by adding temporal |
| camera history, camera tokens and pose prediction, mixed human/robot data |
| adapters, joint training objectives, and an exact packed attention path. |
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| Gemma components remain subject to the terms in LICENSE_GEMMA.txt. Third-party |
| datasets, robot drivers, headset runtimes, and checkpoints retain their own |
| licenses and are not relicensed by this repository. |
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| Gemma is provided under and subject to the Gemma Terms of Use found at |
| ai.google.dev/gemma/terms. |
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