gouhanke
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926a78eb66
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feat: 添加finetune
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2026-02-12 19:31:44 +08:00 |
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gouhanke
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efbe4b6ac9
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Revert "Merge branch 'dev' of gitlab.com:leeeezd0016-group/gouhanke-vla into dev"
This reverts commit acb1467473, reversing
changes made to 624b926e33.
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2026-02-12 18:31:56 +08:00 |
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gouhanke
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acb1467473
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Merge branch 'dev' of gitlab.com:leeeezd0016-group/gouhanke-vla into dev
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2026-02-12 18:08:27 +08:00 |
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gouhanke
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624b926e33
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debug: 添加推理时缩放，加大采数以及推理时物块的放置范围
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2026-02-12 17:14:23 +08:00 |
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gouhanke
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926d8cf894
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chore: 加载时将图像缩放到224*224， resnet禁用crop
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2026-02-12 15:02:18 +08:00 |
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gouhanke
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116ba13fb9
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chore: 验证归一化是否有效
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2026-02-12 13:01:13 +08:00 |
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gouhanke
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37a47ac2dd
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debug: 保存stats到ckpt
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2026-02-12 13:00:43 +08:00 |
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gouhanke
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ab971b3f96
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debug: 归一化
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2026-02-12 12:23:34 +08:00 |
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gouhanke
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83cd55e67b
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添加pad_loss
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2026-02-11 20:33:26 +08:00 |
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gouhanke
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eeb07cad15
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feat: 冻结resnet
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2026-02-11 20:11:25 +08:00 |
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gouhanke
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83d11ab640
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Merge branch 'dev' of gitlab.com:leeeezd0016-group/gouhanke-vla into dev
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2026-02-11 17:20:21 +08:00 |
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JiajunLI
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aba8779671
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更改默认参数
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2026-02-11 17:14:32 +08:00 |
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gouhanke
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b42c1c68fd
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debug: 将归一化放在GPU上
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2026-02-11 17:13:55 +08:00 |
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gouhanke
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320369ffb8
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debug: 归一化图像到[0, 1]
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2026-02-11 16:47:39 +08:00 |
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gouhanke
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130d4bb3c5
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refactor：大重构
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2026-02-11 15:53:55 +08:00 |
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gouhanke
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1e95d40bf9
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debug
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2026-02-10 15:56:05 +08:00 |
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gouhanke
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3c27d6d793
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refactor: 重构resnet
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2026-02-10 15:26:10 +08:00 |
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gouhanke
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88b9c10a75
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refactor(dataset): 重新创建robotdataset最小实现
- 内部实现__getitem__参数，可以通过滑动窗口进行采样
-
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2026-02-10 10:26:19 +08:00 |
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gouhanke
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ac870f6110
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chore: 计算推理频率
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2026-02-09 15:39:22 +08:00 |
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gouhanke
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8b700b6d99
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暂存
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2026-02-09 14:41:35 +08:00 |
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gouhanke
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f833c6d9f1
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添加readme文件
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2026-02-07 09:57:59 +08:00 |
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gouhanke
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4332530a5f
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feat(train): 添加warmup学习率调度器
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2026-02-06 22:54:34 +08:00 |
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gouhanke
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456056347f
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debug: 固定验证集上的随机噪声，修复resnet在训练时bn层会切换到train的问题
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2026-02-06 21:31:19 +08:00 |
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gouhanke
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05f3cc1e47
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chore: 删除detr和gr00t
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2026-02-06 20:21:01 +08:00 |
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gouhanke
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a6fcb88203
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chore: 删除多余文件
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2026-02-06 20:19:11 +08:00 |
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gouhanke
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3d0c2ec5b1
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feat(train): 添加验证集
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2026-02-06 18:00:09 +08:00 |
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gouhanke
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ea49e63eb7
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feat: 注册了自定义 resolver计算长度
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2026-02-06 16:08:56 +08:00 |
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gouhanke
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7a9ca06aa0
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feat(dependency): 生成environment.yml文件
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2026-02-06 15:40:24 +08:00 |
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gouhanke
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f006d50814
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chore: 自动获取cameras的长度
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2026-02-06 15:33:07 +08:00 |
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gouhanke
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f4a5c77b7c
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refactor: 归一化从agent解耦到训练、推理脚本中
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2026-02-06 14:29:36 +08:00 |
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gouhanke
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a43a2e3d18
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chore: 删除多余脚本
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2026-02-06 13:45:35 +08:00 |
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gouhanke
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31419a6fc1
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chore(camera): 添加front相机
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2026-02-06 11:53:01 +08:00 |
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gouhanke
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66009473ad
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debug(inference): 添加推理阶段qpos归一化
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2026-02-06 09:00:44 +08:00 |
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gouhanke
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b0a944f7aa
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feat(train): 跑通训练脚本
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2026-02-05 14:08:43 +08:00 |
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gouhanke
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dd2749cb12
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feat: 更新框架，新增数据及定义和backbone
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2026-02-05 01:44:43 +08:00 |
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gouhanke
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92660562fb
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feat(dataset): 添加统计数据计算脚本
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2026-02-05 01:44:43 +08:00 |
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gouhanke
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03f10b0c22
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feat: 编写状态编码器、动作编码器
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2026-02-05 01:44:43 +08:00 |
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gouhanke
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8fce9c89ef
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chore: 删除多余文件
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2026-02-05 01:44:43 +08:00 |
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JiajunLI
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30b8ff4d7d
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Merge branch 'main' into 'dev'
# Conflicts:
# README.md
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2026-02-04 09:30:00 +00:00 |
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gouhanke
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3f8c3dbf5d
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chore(readme): 修改readme里的数据结构标准
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2026-02-04 14:33:52 +08:00 |
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gouhanke
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3465782256
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feat: 添加保存模型的功能和推理脚本
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2026-02-03 18:03:47 +08:00 |
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gouhanke
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f5e2eca809
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debug(train): 在siglip和DiffusionHead下跑通训练流程
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2026-02-03 17:42:32 +08:00 |
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gouhanke
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3b58760469
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跑通配置和训练脚本
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2026-02-03 16:51:04 +08:00 |
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gouhanke
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bd8bbb0cfc
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debug: 核心骨架伪实现
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2026-02-03 16:14:54 +08:00 |
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gouhanke
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d3863ea1dd
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feat(dataset): 定义VLAChunkedDataset类，构建数据可视化工具
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2026-02-03 15:24:09 +08:00 |
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gouhanke
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57acfd645f
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feat(vla): vla框架初始化
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2026-02-03 14:18:30 +08:00 |
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gouhanke
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c1ce560b32
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feat(inference): 添加动作平滑器
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2026-02-03 10:32:09 +08:00 |
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gouhanke
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a977cc4f5e
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chore(Git LFS): 配置 Git LFS 以支持 .safetensors 模型文件
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2026-02-03 10:30:06 +08:00 |
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JiajunLI
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fdf4dd8bed
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feat(policy): 引入gr00t(DiT)
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2026-02-02 17:16:28 +08:00 |
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JiajunLI
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fd1bd20c4f
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chore(constants): 修改参与训练和推理的相机
- 现在使用顶部相机、右手腕相机。
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2026-01-28 19:32:56 +08:00 |
|