Align pi0.7 minimal structure with paper

2026-07-12 20:37:34 +08:00
parent b4c8db846b
commit cd4e8e6a3f
21 changed files with 1485 additions and 660 deletions
@@ -1,11 +1,39 @@
 {
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  "predicted_subtask": "steer_left",
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  "trajectory_metrics": {
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-    "no_history": 2.1593737602233887,
-    "cfg_beta2": 10.576497077941895
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+    "full_oracle_goal": 9.344671249389648,
+    "no_metadata": 4.243795394897461,
+    "no_goal": 9.066949844360352,
+    "no_history": 10.404154777526855,
+    "metadata_cfg": 19.987443923950195
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+  "normalized_action_metrics": {
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+    "full_oracle_goal": 0.2848338186740875,
+    "no_metadata": 0.37385478615760803,
+    "no_goal": 0.29379916191101074,
+    "no_history": 0.28792211413383484,
+    "metadata_cfg": 0.2725481688976288
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+  "rtc_metrics": {
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  }
 }