Upload 3 files
Browse files- config.yaml +181 -0
- eval_info.json +3523 -0
- model.safetensors +3 -0
config.yaml
ADDED
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| 1 |
+
resume: false
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| 2 |
+
device: cuda
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| 3 |
+
use_amp: false
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| 4 |
+
seed: 100000
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| 5 |
+
dataset_repo_id: lerobot/pusht
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| 6 |
+
video_backend: pyav
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| 7 |
+
training:
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| 8 |
+
offline_steps: 200000
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| 9 |
+
num_workers: 4
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| 10 |
+
batch_size: 64
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| 11 |
+
eval_freq: 1000
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| 12 |
+
log_freq: 50
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| 13 |
+
save_checkpoint: true
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| 14 |
+
save_freq: 25000
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| 15 |
+
online_steps: 0
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| 16 |
+
online_rollout_n_episodes: 1
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| 17 |
+
online_rollout_batch_size: 1
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| 18 |
+
online_steps_between_rollouts: 1
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| 19 |
+
online_sampling_ratio: 0.5
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| 20 |
+
online_env_seed: null
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| 21 |
+
online_buffer_capacity: null
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| 22 |
+
online_buffer_seed_size: 0
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| 23 |
+
do_online_rollout_async: false
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| 24 |
+
image_transforms:
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| 25 |
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enable: false
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| 26 |
+
max_num_transforms: 3
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| 27 |
+
random_order: false
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| 28 |
+
brightness:
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| 29 |
+
weight: 1
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| 30 |
+
min_max:
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| 31 |
+
- 0.8
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| 32 |
+
- 1.2
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| 33 |
+
contrast:
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| 34 |
+
weight: 1
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| 35 |
+
min_max:
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| 36 |
+
- 0.8
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| 37 |
+
- 1.2
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| 38 |
+
saturation:
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| 39 |
+
weight: 1
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| 40 |
+
min_max:
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| 41 |
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- 0.5
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| 42 |
+
- 1.5
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| 43 |
+
hue:
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| 44 |
+
weight: 1
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| 45 |
+
min_max:
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| 46 |
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- -0.05
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| 47 |
+
- 0.05
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| 48 |
+
sharpness:
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| 49 |
+
weight: 1
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| 50 |
+
min_max:
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| 51 |
+
- 0.8
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| 52 |
+
- 1.2
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| 53 |
+
grad_clip_norm: 10
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| 54 |
+
lr: 0.0001
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| 55 |
+
lr_scheduler: cosine
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| 56 |
+
lr_warmup_steps: 1000
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| 57 |
+
adam_betas:
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| 58 |
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- 0.95
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| 59 |
+
- 0.999
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| 60 |
+
adam_eps: 1.0e-08
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| 61 |
+
adam_weight_decay: 1.0e-06
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| 62 |
+
transformer_weight_decay: 0.001
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| 63 |
+
delta_timestamps:
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| 64 |
+
observation.image:
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| 65 |
+
- -0.1
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| 66 |
+
- 0.0
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| 67 |
+
observation.state:
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| 68 |
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- -0.1
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| 69 |
+
- 0.0
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| 70 |
+
action:
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| 71 |
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- -0.1
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| 72 |
+
- 0.0
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| 73 |
+
- 0.1
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| 74 |
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- 0.2
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| 75 |
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- 0.3
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| 76 |
+
- 0.4
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| 77 |
+
- 0.5
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| 78 |
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- 0.6
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| 79 |
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- 0.7
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| 80 |
+
- 0.8
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| 81 |
+
drop_n_last_frames: 7
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| 82 |
+
eval:
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| 83 |
+
n_episodes: 50
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| 84 |
+
batch_size: 50
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| 85 |
+
use_async_envs: false
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| 86 |
+
wandb:
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| 87 |
+
enable: true
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| 88 |
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disable_artifact: false
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| 89 |
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project: lerobot
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| 90 |
+
notes: ''
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| 91 |
+
fps: 10
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| 92 |
+
env:
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| 93 |
+
name: pusht
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| 94 |
+
task: PushT-v0
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| 95 |
+
image_size: 96
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| 96 |
+
state_dim: 2
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| 97 |
+
action_dim: 2
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| 98 |
+
fps: ${fps}
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| 99 |
+
episode_length: 300
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| 100 |
+
gym:
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| 101 |
+
obs_type: pixels_agent_pos
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| 102 |
+
render_mode: rgb_array
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| 103 |
+
visualization_width: 384
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| 104 |
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visualization_height: 384
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| 105 |
+
override_dataset_stats:
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| 106 |
+
observation.image:
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| 107 |
+
mean:
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| 108 |
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- - - 0.5
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| 109 |
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- - - 0.5
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| 110 |
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- - - 0.5
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| 111 |
+
std:
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| 112 |
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- - - 0.5
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| 113 |
+
- - - 0.5
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| 114 |
+
- - - 0.5
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| 115 |
+
observation.state:
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| 116 |
+
min:
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| 117 |
+
- 13.456424
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| 118 |
+
- 32.938293
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| 119 |
+
max:
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| 120 |
+
- 496.14618
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| 121 |
+
- 510.9579
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| 122 |
+
action:
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| 123 |
+
min:
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| 124 |
+
- 12.0
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| 125 |
+
- 25.0
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| 126 |
+
max:
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| 127 |
+
- 511.0
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| 128 |
+
- 511.0
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| 129 |
+
policy:
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| 130 |
+
name: diffusion
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| 131 |
+
n_obs_steps: 2
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| 132 |
+
horizon: 10
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| 133 |
+
n_action_steps: 8
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| 134 |
+
input_shapes:
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| 135 |
+
observation.image:
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| 136 |
+
- 3
|
| 137 |
+
- 96
|
| 138 |
+
- 96
|
| 139 |
+
observation.state:
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| 140 |
+
- ${env.state_dim}
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| 141 |
+
output_shapes:
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| 142 |
+
action:
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| 143 |
+
- ${env.action_dim}
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| 144 |
+
input_normalization_modes:
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| 145 |
+
observation.image: mean_std
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| 146 |
+
observation.state: min_max
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| 147 |
+
output_normalization_modes:
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| 148 |
+
action: min_max
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| 149 |
+
vision_backbone: resnet18
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| 150 |
+
crop_shape:
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| 151 |
+
- 84
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| 152 |
+
- 84
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| 153 |
+
crop_is_random: true
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| 154 |
+
pretrained_backbone_weights: null
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| 155 |
+
use_group_norm: true
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| 156 |
+
spatial_softmax_num_keypoints: 32
|
| 157 |
+
down_dims:
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| 158 |
+
- 512
|
| 159 |
+
- 1024
|
| 160 |
+
- 2048
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| 161 |
+
kernel_size: 5
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| 162 |
+
n_groups: 8
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| 163 |
+
diffusion_step_embed_dim: 256
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| 164 |
+
use_film_scale_modulation: true
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| 165 |
+
use_transformer: true
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| 166 |
+
n_layer: 8
|
| 167 |
+
n_head: 4
|
| 168 |
+
p_drop_emb: 0.0
|
| 169 |
+
p_drop_attn: 0.3
|
| 170 |
+
causal_attn: true
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| 171 |
+
n_cond_layers: 0
|
| 172 |
+
noise_scheduler_type: DDPM
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| 173 |
+
num_train_timesteps: 100
|
| 174 |
+
beta_schedule: squaredcos_cap_v2
|
| 175 |
+
beta_start: 0.0001
|
| 176 |
+
beta_end: 0.02
|
| 177 |
+
prediction_type: epsilon
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| 178 |
+
clip_sample: true
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| 179 |
+
clip_sample_range: 1.0
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| 180 |
+
num_inference_steps: null
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| 181 |
+
do_mask_loss_for_padding: false
|
eval_info.json
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@@ -0,0 +1,3523 @@
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