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ACT_DP_multitask/checkpoints/real_fintune_50_2000/act_dp/dataset_stats.pkl
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version https://git-lfs.github.com/spec/v1
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oid sha256:2cfe33fcd2a42dc7d5c88158bebdac0d6c2ee1412dc8a75ad40776f5289d8b9a
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size 1049
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ACT_DP_multitask/checkpoints/real_fintune_50_2000/act_dp/policy_config.json
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{
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"lr": 0.0001,
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"task_name": "bottle_adjust",
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"is_wandb": false,
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"save_epoch": 100,
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"num_queries": 50,
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"predict_frame": 0,
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"history_step": 0,
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"resize_rate": 1,
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"image_downsample_rate": 1,
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"temporal_downsample_rate": 1,
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"image_height": 480,
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"image_width": 640,
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"kl_weight": 10,
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"hidden_dim": 512,
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"dim_feedforward": 3200,
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"lr_backbone": 1e-05,
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"backbone": "resnet18",
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"enc_layers": 4,
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"dec_layers": 7,
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"nheads": 8,
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"camera_names": [
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"cam_high",
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"cam_left_wrist",
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"cam_right_wrist"
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],
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"norm_type": "minmax",
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"disable_vae_latent": true,
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"disable_resnet": false,
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"condition_type": "cross_attention",
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"num_inference_steps": 10,
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"num_train_timesteps": 100,
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"prediction_type": "sample",
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"loss_type": "l1",
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"schedule_type": "DDIM",
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"beta_schedule": "squaredcos_cap_v2",
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"diffusion_timestep_type": "cat",
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"attention_type": "v0",
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"causal_mask": false,
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"predict_only_last": false,
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"share_decoder": false,
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"tokenizer_model_temporal_rate": 8,
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"tokenizer_model_spatial_rate": 16,
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"tokenizer_model_name": "Cosmos-Tokenizer-DV8x16x16",
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"prediction_weight": 1,
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"imitate_weight": 1,
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"token_dim": 6,
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"patch_size": 5,
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"token_pe_type": "learned",
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"next_frame": false,
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"pretrain": false,
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"mae": false,
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"segmentation": false,
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"use_film": true,
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"multitask": true
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}
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ACT_DP_multitask/checkpoints/real_fintune_50_2000/act_dp/policy_lastest_seed_0.ckpt
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version https://git-lfs.github.com/spec/v1
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oid sha256:5da7d1a19db0385b11c354b6f451fbdb6a3ab7648e7e9e5de599b59fa42a63ae
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size 1032613664
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