Training Binning Policies #615
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…hysical-Intelligence#608)" This reverts commit c3a15b2, reversing changes made to df866f6.
This reverts commit 6bab045.
…l-Intelligence#608) small change to `DroidPolicyInputs` to pad actions to pi0 action dim
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had some git hiccups ^ if diff is fine can maybe squash 🙏 |
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Adds action encoding to
BinningTokenizerto train binning policies. Tested by fullfinetuning apaligemma_binning_droid_jointpospolicy. Encoding/decoding example below.