Upload folder using huggingface_hub
Browse files- config.json +108 -0
- model.safetensors +3 -0
- stats.json +0 -0
- train_config.json +311 -0
config.json
ADDED
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{
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"type": "TBot_SA1",
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"n_obs_steps": 1,
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"input_features": {
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"observation.state": {
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"type": "STATE",
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| 7 |
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"shape": [
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32
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| 9 |
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]
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}
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},
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| 12 |
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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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32
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]
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}
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},
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"device": "cuda:0",
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"use_amp": false,
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"push_to_hub": false,
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"repo_id": "zaleni/TBot-SA1-Base",
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"private": null,
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"tags": null,
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"license": null,
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"pretrained_path": null,
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"qwen3_vl_variant": "qwen3_vl_28l",
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"action_expert_variant": "qwen3_28l",
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"qwen3_vl_pretrained_path": "Qwen/Qwen3-VL-2B-Instruct",
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"dtype": "bfloat16",
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"chunk_size": 50,
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| 33 |
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"n_action_steps": 50,
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| 34 |
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"max_state_dim": 32,
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"max_action_dim": 32,
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| 36 |
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"num_inference_steps": 10,
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"time_sampling_beta_alpha": 1.5,
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"time_sampling_beta_beta": 1.0,
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"time_sampling_scale": 0.999,
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"time_sampling_offset": 0.001,
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"min_period": 0.004,
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"max_period": 4.0,
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"image_resolution": [
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224,
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224
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],
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"empty_cameras": 0,
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"normalization_mapping": {
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"VISUAL": "IDENTITY",
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"STATE": "IDENTITY",
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"ACTION": "IDENTITY"
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},
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| 53 |
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"gradient_checkpointing": false,
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| 54 |
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"compile_model": false,
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| 55 |
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"compile_mode": "max-autotune",
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"optimizer_lr": 5e-05,
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"optimizer_betas": [
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0.9,
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0.95
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],
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"optimizer_eps": 1e-08,
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"optimizer_weight_decay": 0.01,
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| 63 |
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"optimizer_grad_clip_norm": 1.0,
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| 64 |
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"scheduler_warmup_steps": 2000,
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| 65 |
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"scheduler_decay_steps": 300000,
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| 66 |
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"scheduler_decay_lr": 1e-05,
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| 67 |
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"tokenizer_max_length": 48,
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| 68 |
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"freeze_vision_encoder": false,
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| 69 |
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"train_expert_only": false,
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| 70 |
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"train_vlm_only": false,
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| 71 |
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"scale_factor": 8,
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| 72 |
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"lambda_gen": 0.01,
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| 73 |
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"cosmos_tokenizer_path_or_name": "nvidia/Cosmos-Tokenizer-CI8x8",
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"enable_3d_queries": true,
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"num_3d_query_tokens": 432,
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| 76 |
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"da3_alignment_mode": "query_decoder",
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"da3_query_resampler_layers": 1,
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"da3_query_resampler_ff_mult": 1,
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"query_layer_indices": [
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13,
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19,
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23,
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27
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],
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| 85 |
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"da3_variant": "auto",
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"da3_teacher_layers": [
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11,
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15,
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19,
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23
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],
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| 92 |
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"da3_query_dim": 2048,
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| 93 |
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"da3_tokens_per_view": 1296,
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| 94 |
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"da3_num_views": 3,
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"lambda_3d": 0.01,
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"da3_model_path_or_name": "depth-anything/DA3-LARGE-1.1",
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| 97 |
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"da3_model_name": null,
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"da3_code_root": null,
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| 99 |
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"da3_teacher_process_res": 504,
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| 100 |
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"da3_layer_weights": [
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1.0,
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1.2,
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1.4,
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1.6
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],
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| 106 |
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"future_query_init_std": 0.02,
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"log_da3_teacher_timing": true
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}
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model.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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oid sha256:77b369a39b9763f6d669cc69bde7e96a65b3ed0e47d269ee8a5df2b438798b15
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size 6608313224
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stats.json
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train_config.json
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| 1 |
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{
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| 2 |
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"dataset": {
|
| 3 |
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"type": "TBot_SA1",
|
| 4 |
+
"repo_id": "multidata_from_file",
|
| 5 |
+
"repo_id_file": "outputs/TBot_SA1/_repo_id_files/TBot_SA1-multidata-delta-pretrain-2026_04_07_07_42_16.txt",
|
| 6 |
+
"root": null,
|
| 7 |
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"episodes": null,
|
| 8 |
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"image_transforms": {
|
| 9 |
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"enable": false,
|
| 10 |
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"max_num_transforms": 3,
|
| 11 |
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"random_order": false,
|
| 12 |
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"tfs": {
|
| 13 |
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"brightness": {
|
| 14 |
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"weight": 1.0,
|
| 15 |
+
"type": "ColorJitter",
|
| 16 |
+
"kwargs": {
|
| 17 |
+
"brightness": [
|
| 18 |
+
0.8,
|
| 19 |
+
1.2
|
| 20 |
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]
|
| 21 |
+
}
|
| 22 |
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},
|
| 23 |
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"contrast": {
|
| 24 |
+
"weight": 1.0,
|
| 25 |
+
"type": "ColorJitter",
|
| 26 |
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"kwargs": {
|
| 27 |
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"contrast": [
|
| 28 |
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0.8,
|
| 29 |
+
1.2
|
| 30 |
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]
|
| 31 |
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}
|
| 32 |
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},
|
| 33 |
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"saturation": {
|
| 34 |
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"weight": 1.0,
|
| 35 |
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"type": "ColorJitter",
|
| 36 |
+
"kwargs": {
|
| 37 |
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"saturation": [
|
| 38 |
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0.5,
|
| 39 |
+
1.5
|
| 40 |
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]
|
| 41 |
+
}
|
| 42 |
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},
|
| 43 |
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"hue": {
|
| 44 |
+
"weight": 1.0,
|
| 45 |
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"type": "ColorJitter",
|
| 46 |
+
"kwargs": {
|
| 47 |
+
"hue": [
|
| 48 |
+
-0.05,
|
| 49 |
+
0.05
|
| 50 |
+
]
|
| 51 |
+
}
|
| 52 |
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},
|
| 53 |
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"sharpness": {
|
| 54 |
+
"weight": 1.0,
|
| 55 |
+
"type": "SharpnessJitter",
|
| 56 |
+
"kwargs": {
|
| 57 |
+
"sharpness": [
|
| 58 |
+
0.5,
|
| 59 |
+
1.5
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
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},
|
| 63 |
+
"affine": {
|
| 64 |
+
"weight": 1.0,
|
| 65 |
+
"type": "RandomAffine",
|
| 66 |
+
"kwargs": {
|
| 67 |
+
"degrees": [
|
| 68 |
+
-5.0,
|
| 69 |
+
5.0
|
| 70 |
+
],
|
| 71 |
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"translate": [
|
| 72 |
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0.05,
|
| 73 |
+
0.05
|
| 74 |
+
]
|
| 75 |
+
}
|
| 76 |
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}
|
| 77 |
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}
|
| 78 |
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},
|
| 79 |
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"revision": null,
|
| 80 |
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"use_imagenet_stats": true,
|
| 81 |
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"use_external_stats": true,
|
| 82 |
+
"external_stats_path": null,
|
| 83 |
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"external_stats_root": "norm_stats",
|
| 84 |
+
"weight_rules_path": "configs/tbot_sa1_pretrain_data_config.yaml",
|
| 85 |
+
"video_backend": "pyav",
|
| 86 |
+
"streaming": false,
|
| 87 |
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"dist_loading": true,
|
| 88 |
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"buffer_size": 1024,
|
| 89 |
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"action_mode": "delta",
|
| 90 |
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"repack_transforms": {
|
| 91 |
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"inputs": [],
|
| 92 |
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"outputs": []
|
| 93 |
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},
|
| 94 |
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"data_transforms": {
|
| 95 |
+
"inputs": [
|
| 96 |
+
{
|
| 97 |
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"type": "delta_action",
|
| 98 |
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"mask": null,
|
| 99 |
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"mapping": {}
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