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Squash history after removing optimizer states

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  1. .gitattributes +39 -0
  2. README.md +89 -0
  3. libero-plus/added_tokens.json +54 -0
  4. libero-plus/chat_template.jinja +6 -0
  5. libero-plus/config.json +366 -0
  6. libero-plus/libero_posttrain_metadata.json +1285 -0
  7. libero-plus/merges.txt +0 -0
  8. libero-plus/model.safetensors +3 -0
  9. libero-plus/special_tokens_map.json +40 -0
  10. libero-plus/tokenizer.json +3 -0
  11. libero-plus/tokenizer_config.json +458 -0
  12. libero-plus/vocab.json +0 -0
  13. libero/added_tokens.json +54 -0
  14. libero/chat_template.jinja +6 -0
  15. libero/config.json +366 -0
  16. libero/libero_posttrain_metadata.json +1285 -0
  17. libero/merges.txt +0 -0
  18. libero/model.safetensors +3 -0
  19. libero/special_tokens_map.json +40 -0
  20. libero/tokenizer.json +3 -0
  21. libero/tokenizer_config.json +458 -0
  22. libero/vocab.json +0 -0
  23. pretrained/added_tokens.json +78 -0
  24. pretrained/chat_template.jinja +6 -0
  25. pretrained/config.json +366 -0
  26. pretrained/human_tactile_pretrain_metadata.json +0 -0
  27. pretrained/merges.txt +0 -0
  28. pretrained/model.safetensors +3 -0
  29. pretrained/special_tokens_map.json +40 -0
  30. pretrained/tokenizer.json +3 -0
  31. pretrained/tokenizer_config.json +650 -0
  32. pretrained/vocab.json +0 -0
  33. robocasa/added_tokens.json +54 -0
  34. robocasa/chat_template.jinja +6 -0
  35. robocasa/config.json +366 -0
  36. robocasa/merges.txt +0 -0
  37. robocasa/model.safetensors +3 -0
  38. robocasa/robocasa_human_posttrain_metadata.json +0 -0
  39. robocasa/special_tokens_map.json +40 -0
  40. robocasa/tokenizer.json +3 -0
  41. robocasa/tokenizer_config.json +458 -0
  42. robocasa/vocab.json +0 -0
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README.md ADDED
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+ # TTP: Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulation
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+
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+ [![Blog](https://img.shields.io/badge/Blog-TTP-green)](https://research.beingbeyond.com/TTP)
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+ [![Paper](https://img.shields.io/badge/arXiv-Paper-b31b1b.svg)](https://arxiv.org/pdf/2607.01067)
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+ [![Models](https://img.shields.io/badge/🤗%20Hugging%20Face-Models-yellow)](https://huggingface.co/collections/BeingBeyond/TTP)
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+ [![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](./LICENSE)
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+
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+ ## Model Checkpoints and Datasets
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+
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+ Download models from Hugging Face:
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+
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+ | Model Type | Model Name | Description |
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+ |------------|------------|-------------|
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+ | **VLA Pre-trained** | [TTP-pretrained](https://huggingface.co/BeingBeyond/TTP-pretrained) | Base vision-language-action model (preview) |
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+ | **VLA Post-trained** | [TTP-LIBERO](https://huggingface.co/BeingBeyond/TTP-LIBERO) | Post-trained on LIBERO benchmark |
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+ | **VLA Post-trained** | [TTP-LIBERO-plus](https://huggingface.co/BeingBeyond/TTP-LIBERO-plus) | Post-trained on LIBERO, zero-shot evaluated on LIBERO-plus |
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+ | **VLA Post-trained** | [TTP-RoboCasa](https://huggingface.co/BeingBeyond/TTP-RoboCasa) | Post-trained on RoboCasa 24 tasks |
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+
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+ The whole datasets of H-Tac will be coming soon. For now, you can download a small subset of H-Tac from Hugging Face for testing and evaluation: [H-Tac](https://huggingface.co/datasets/BeingBeyond/H-Tac)
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+
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+ ## Setup
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+
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+ ### Clone repository
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+
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+ ```bash
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+ git clone https://github.com/BeingBeyond/TTP.git
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+ cd TTP
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+ ```
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+
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+ ### Create environment
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+
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+ ```bash
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+ conda create -n beingh python=3.10
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+ conda activate beingh
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+ ```
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+
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+ ### Install package
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+
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+ ```bash
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+ pip install -r requirements.txt
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+ pip install flash-attn --no-build-isolation
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+ ```
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+
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+ ## Pre-Training
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+
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+ ```bash
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+ bash scripts/train/train_human_tactile.sh
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+ ```
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+
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+ ## Post-Training
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+
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+ ```bash
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+ bash scripts/train/train_libero_example.sh
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+ bash scripts/train/train_robocasa.sh
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+ ```
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+
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+ ## Evaluation
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+
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+ ```bash
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+ bash scripts/eval/eval-libero-fast.sh
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+ bash scripts/eval/eval-libero-plus.sh
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+ bash scripts/eval/eval-robocasa-multiprocess.sh
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+ ```
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+
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+ ## Acknowledgments
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+
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+ TTP builds on the following excellent open-source projects:
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+
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+ - [InternVL](https://github.com/OpenGVLab/InternVL): Vision-Language model backbone
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+ - [Bagel](https://github.com/ByteDance-Seed/Bagel): Training framework
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+ - [Qwen](https://github.com/QwenLM/Qwen): Language model and MoE expert
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+ - [LIBERO](https://github.com/Lifelong-Robot-Learning/LIBERO): Benchmark for lifelong robot learning
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+ - [RoboCasa](https://github.com/robocasa/robocasa): Large-scale simulation benchmark for everyday tasks
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+ - [Being-H0.5](https://github.com/BeingBeyond/Being-H): Scaling Human-Centric Robot Learning for Cross-Embodiment Generalization
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+
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+ We thank the authors for their contributions to the robotics and machine learning communities.
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+
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+ ## Citation
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+
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+ If you find this work useful in your research, please consider citing us!
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+
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+ ```bibtex
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+ @article{beingbeyond2026ttp,
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+ title={Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulation},
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+ author={Zhang, Chi and Cai, Penglin and Xi, Ziheng and Yuan, Haoqi and Luo, Hao and Zhang, Wanpeng and Zheng, Sipeng and Xu, Chaoyi and Lu, Zongqing},
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+ journal={arXiv preprint arXiv:2607.01067},
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+ year={2026}
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+ }
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+ ```
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+ "<|im_start|>",
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619
+ "<|object_ref_end|>",
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+ "<|quad_end|>",
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+ "<|vision_start|>",
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631
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+ "<ref>",
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+ "bos_token": null,
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641
+ "eos_token": "<|im_end|>",
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+ "errors": "replace",
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+ "extra_special_tokens": {},
644
+ "model_max_length": 14588,
645
+ "pad_token": "<|endoftext|>",
646
+ "processor_class": "InternVLProcessor",
647
+ "split_special_tokens": false,
648
+ "tokenizer_class": "Qwen2Tokenizer",
649
+ "unk_token": null
650
+ }
pretrained/vocab.json ADDED
The diff for this file is too large to render. See raw diff
 
robocasa/added_tokens.json ADDED
@@ -0,0 +1,54 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "</box>": 151677,
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+ "</img>": 151670,
4
+ "</quad>": 151673,
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+ "</ref>": 151675,
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+ "</think>": 151668,
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+ "<|fim_prefix|>": 151659,
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+ "<|vision_end|>": 151653,
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+ "<|vision_pad|>": 151654,
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+ "<|vision_start|>": 151652
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+ }
robocasa/chat_template.jinja ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ {% for message in messages %}{{'<|im_start|>' + message['role'] + '
2
+ '}}{% if message['content'] is string %}{{ message['content'] }}{% else %}{% for content in message['content'] %}{% if content['type'] == 'image' %}{{ '<image>
3
+ ' }}{% elif content['type'] == 'video' %}{{ '<video>
4
+ ' }}{% elif content['type'] == 'text' %}{{ content['text'] }}{% endif %}{% endfor %}{% endif %}{{'<|im_end|>
5
+ '}}{% endfor %}{% if add_generation_prompt %}{{'<|im_start|>assistant
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93
+ },
94
+ "151654": {
95
+ "content": "<|vision_pad|>",
96
+ "lstrip": false,
97
+ "normalized": false,
98
+ "rstrip": false,
99
+ "single_word": false,
100
+ "special": true
101
+ },
102
+ "151655": {
103
+ "content": "<|image_pad|>",
104
+ "lstrip": false,
105
+ "normalized": false,
106
+ "rstrip": false,
107
+ "single_word": false,
108
+ "special": true
109
+ },
110
+ "151656": {
111
+ "content": "<|video_pad|>",
112
+ "lstrip": false,
113
+ "normalized": false,
114
+ "rstrip": false,
115
+ "single_word": false,
116
+ "special": true
117
+ },
118
+ "151657": {
119
+ "content": "<tool_call>",
120
+ "lstrip": false,
121
+ "normalized": false,
122
+ "rstrip": false,
123
+ "single_word": false,
124
+ "special": false
125
+ },
126
+ "151658": {
127
+ "content": "</tool_call>",
128
+ "lstrip": false,
129
+ "normalized": false,
130
+ "rstrip": false,
131
+ "single_word": false,
132
+ "special": false
133
+ },
134
+ "151659": {
135
+ "content": "<|fim_prefix|>",
136
+ "lstrip": false,
137
+ "normalized": false,
138
+ "rstrip": false,
139
+ "single_word": false,
140
+ "special": false
141
+ },
142
+ "151660": {
143
+ "content": "<|fim_middle|>",
144
+ "lstrip": false,
145
+ "normalized": false,
146
+ "rstrip": false,
147
+ "single_word": false,
148
+ "special": false
149
+ },
150
+ "151661": {
151
+ "content": "<|fim_suffix|>",
152
+ "lstrip": false,
153
+ "normalized": false,
154
+ "rstrip": false,
155
+ "single_word": false,
156
+ "special": false
157
+ },
158
+ "151662": {
159
+ "content": "<|fim_pad|>",
160
+ "lstrip": false,
161
+ "normalized": false,
162
+ "rstrip": false,
163
+ "single_word": false,
164
+ "special": false
165
+ },
166
+ "151663": {
167
+ "content": "<|repo_name|>",
168
+ "lstrip": false,
169
+ "normalized": false,
170
+ "rstrip": false,
171
+ "single_word": false,
172
+ "special": false
173
+ },
174
+ "151664": {
175
+ "content": "<|file_sep|>",
176
+ "lstrip": false,
177
+ "normalized": false,
178
+ "rstrip": false,
179
+ "single_word": false,
180
+ "special": false
181
+ },
182
+ "151665": {
183
+ "content": "<tool_response>",
184
+ "lstrip": false,
185
+ "normalized": false,
186
+ "rstrip": false,
187
+ "single_word": false,
188
+ "special": false
189
+ },
190
+ "151666": {
191
+ "content": "</tool_response>",
192
+ "lstrip": false,
193
+ "normalized": false,
194
+ "rstrip": false,
195
+ "single_word": false,
196
+ "special": false
197
+ },
198
+ "151667": {
199
+ "content": "<think>",
200
+ "lstrip": false,
201
+ "normalized": false,
202
+ "rstrip": false,
203
+ "single_word": false,
204
+ "special": false
205
+ },
206
+ "151668": {
207
+ "content": "</think>",
208
+ "lstrip": false,
209
+ "normalized": false,
210
+ "rstrip": false,
211
+ "single_word": false,
212
+ "special": false
213
+ },
214
+ "151669": {
215
+ "content": "<img>",
216
+ "lstrip": false,
217
+ "normalized": false,
218
+ "rstrip": false,
219
+ "single_word": false,
220
+ "special": true
221
+ },
222
+ "151670": {
223
+ "content": "</img>",
224
+ "lstrip": false,
225
+ "normalized": false,
226
+ "rstrip": false,
227
+ "single_word": false,
228
+ "special": true
229
+ },
230
+ "151671": {
231
+ "content": "<IMG_CONTEXT>",
232
+ "lstrip": false,
233
+ "normalized": false,
234
+ "rstrip": false,
235
+ "single_word": false,
236
+ "special": true
237
+ },
238
+ "151672": {
239
+ "content": "<quad>",
240
+ "lstrip": false,
241
+ "normalized": false,
242
+ "rstrip": false,
243
+ "single_word": false,
244
+ "special": true
245
+ },
246
+ "151673": {
247
+ "content": "</quad>",
248
+ "lstrip": false,
249
+ "normalized": false,
250
+ "rstrip": false,
251
+ "single_word": false,
252
+ "special": true
253
+ },
254
+ "151674": {
255
+ "content": "<ref>",
256
+ "lstrip": false,
257
+ "normalized": false,
258
+ "rstrip": false,
259
+ "single_word": false,
260
+ "special": true
261
+ },
262
+ "151675": {
263
+ "content": "</ref>",
264
+ "lstrip": false,
265
+ "normalized": false,
266
+ "rstrip": false,
267
+ "single_word": false,
268
+ "special": true
269
+ },
270
+ "151676": {
271
+ "content": "<box>",
272
+ "lstrip": false,
273
+ "normalized": false,
274
+ "rstrip": false,
275
+ "single_word": false,
276
+ "special": true
277
+ },
278
+ "151677": {
279
+ "content": "</box>",
280
+ "lstrip": false,
281
+ "normalized": false,
282
+ "rstrip": false,
283
+ "single_word": false,
284
+ "special": true
285
+ },
286
+ "151678": {
287
+ "content": "<vision_start>",
288
+ "lstrip": false,
289
+ "normalized": false,
290
+ "rstrip": false,
291
+ "single_word": false,
292
+ "special": true
293
+ },
294
+ "151679": {
295
+ "content": "<vision_end>",
296
+ "lstrip": false,
297
+ "normalized": false,
298
+ "rstrip": false,
299
+ "single_word": false,
300
+ "special": true
301
+ },
302
+ "151680": {
303
+ "content": "<|tac_start|>",
304
+ "lstrip": false,
305
+ "normalized": false,
306
+ "rstrip": false,
307
+ "single_word": false,
308
+ "special": true
309
+ },
310
+ "151681": {
311
+ "content": "<|tac_end|>",
312
+ "lstrip": false,
313
+ "normalized": false,
314
+ "rstrip": false,
315
+ "single_word": false,
316
+ "special": true
317
+ },
318
+ "151682": {
319
+ "content": "<|action_start|>",
320
+ "lstrip": false,
321
+ "normalized": false,
322
+ "rstrip": false,
323
+ "single_word": false,
324
+ "special": true
325
+ },
326
+ "151683": {
327
+ "content": "<|action_end|>",
328
+ "lstrip": false,
329
+ "normalized": false,
330
+ "rstrip": false,
331
+ "single_word": false,
332
+ "special": true
333
+ },
334
+ "151684": {
335
+ "content": "<|state_start|>",
336
+ "lstrip": false,
337
+ "normalized": false,
338
+ "rstrip": false,
339
+ "single_word": false,
340
+ "special": true
341
+ },
342
+ "151685": {
343
+ "content": "<|state_end|>",
344
+ "lstrip": false,
345
+ "normalized": false,
346
+ "rstrip": false,
347
+ "single_word": false,
348
+ "special": true
349
+ },
350
+ "151686": {
351
+ "content": "<PROP_CONTEXT>",
352
+ "lstrip": false,
353
+ "normalized": false,
354
+ "rstrip": false,
355
+ "single_word": false,
356
+ "special": true
357
+ },
358
+ "151687": {
359
+ "content": "<ACTION_TOKEN_0>",
360
+ "lstrip": false,
361
+ "normalized": false,
362
+ "rstrip": false,
363
+ "single_word": false,
364
+ "special": true
365
+ },
366
+ "151688": {
367
+ "content": "<ACTION_TOKEN_1>",
368
+ "lstrip": false,
369
+ "normalized": false,
370
+ "rstrip": false,
371
+ "single_word": false,
372
+ "special": true
373
+ },
374
+ "151689": {
375
+ "content": "<ACTION_TOKEN_2>",
376
+ "lstrip": false,
377
+ "normalized": false,
378
+ "rstrip": false,
379
+ "single_word": false,
380
+ "special": true
381
+ },
382
+ "151690": {
383
+ "content": "<ACTION_TOKEN_3>",
384
+ "lstrip": false,
385
+ "normalized": false,
386
+ "rstrip": false,
387
+ "single_word": false,
388
+ "special": true
389
+ },
390
+ "151691": {
391
+ "content": "<ACTION_TOKEN_4>",
392
+ "lstrip": false,
393
+ "normalized": false,
394
+ "rstrip": false,
395
+ "single_word": false,
396
+ "special": true
397
+ },
398
+ "151692": {
399
+ "content": "<ACTION_TOKEN_5>",
400
+ "lstrip": false,
401
+ "normalized": false,
402
+ "rstrip": false,
403
+ "single_word": false,
404
+ "special": true
405
+ },
406
+ "151693": {
407
+ "content": "<ACTION_TOKEN_6>",
408
+ "lstrip": false,
409
+ "normalized": false,
410
+ "rstrip": false,
411
+ "single_word": false,
412
+ "special": true
413
+ },
414
+ "151694": {
415
+ "content": "<ACTION_TOKEN_7>",
416
+ "lstrip": false,
417
+ "normalized": false,
418
+ "rstrip": false,
419
+ "single_word": false,
420
+ "special": true
421
+ }
422
+ },
423
+ "additional_special_tokens": [
424
+ "<|im_start|>",
425
+ "<|im_end|>",
426
+ "<|object_ref_start|>",
427
+ "<|object_ref_end|>",
428
+ "<|box_start|>",
429
+ "<|box_end|>",
430
+ "<|quad_start|>",
431
+ "<|quad_end|>",
432
+ "<|vision_start|>",
433
+ "<|vision_end|>",
434
+ "<|vision_pad|>",
435
+ "<|image_pad|>",
436
+ "<|video_pad|>",
437
+ "<img>",
438
+ "</img>",
439
+ "<IMG_CONTEXT>",
440
+ "<quad>",
441
+ "</quad>",
442
+ "<ref>",
443
+ "</ref>",
444
+ "<box>",
445
+ "</box>"
446
+ ],
447
+ "bos_token": null,
448
+ "clean_up_tokenization_spaces": false,
449
+ "eos_token": "<|im_end|>",
450
+ "errors": "replace",
451
+ "extra_special_tokens": {},
452
+ "model_max_length": 14588,
453
+ "pad_token": "<|endoftext|>",
454
+ "processor_class": "InternVLProcessor",
455
+ "split_special_tokens": false,
456
+ "tokenizer_class": "Qwen2Tokenizer",
457
+ "unk_token": null
458
+ }
robocasa/vocab.json ADDED
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