Commit ·
59ec49d
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Parent(s):
Release LightNav-0: weights, processor and RVQ action tokenizer
Browse filesCo-authored-by: LightOrigins <LightOrigins@users.noreply.huggingface.co>
- .gitattributes +36 -0
- README.md +77 -0
- action_tokenizer/alpha_per_source.json +5 -0
- action_tokenizer/codebook_l0.npy +3 -0
- action_tokenizer/codebook_l1.npy +3 -0
- action_tokenizer/codebook_l2.npy +3 -0
- action_tokenizer/distance_l0.npy +3 -0
- action_tokenizer/distance_l1.npy +3 -0
- action_tokenizer/distance_l2.npy +3 -0
- action_tokenizer/jacobian_weights.npy +3 -0
- action_tokenizer/manifest.json +58 -0
- chat_template.jinja +120 -0
- config.json +75 -0
- eval_config.json +120 -0
- model-00001-of-00001.safetensors +3 -0
- model.safetensors.index.json +721 -0
- processor_config.json +60 -0
- tokenizer.json +3 -0
- tokenizer_config.json +3390 -0
.gitattributes
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README.md
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---
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license: apache-2.0
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library_name: transformers
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pipeline_tag: robotics
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base_model: Qwen/Qwen3-VL-4B-Instruct
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tags:
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- embodied-navigation
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- vision-language-navigation
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- visual-tracking
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- vision-language-action
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- qwen3-vl
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- robotics
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---
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# LightNav-0
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**LightNav-0: Eliciting VLM Spatial Intelligence for Generalist Embodied Navigation**
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LightNav-0 is a compact generalist embodied navigation model that elicits the spatial
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intelligence of a pretrained vision-language model (Qwen3-VL) and aligns it with navigation,
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without task-specific prediction heads. Diverse tasks share one token interface: dual-channel
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pointing expresses task-, scene- and embodiment-agnostic spatial intent, and a residual
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vector-quantized (RVQ) action tokenizer maps that intent to precise, embodiment-specific
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trajectories — so instruction following, open-vocabulary object navigation and visual
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tracking live in a single model.
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Inference, serving and evaluation code: **[LightNav-0 repository](https://github.com/lightrobo/LightNav-0)**.
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## Files
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| Path | Content |
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|---|---|
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| `config.json`, `model-*.safetensors`, `model.safetensors.index.json` | Qwen3-VL weights (bf16) with the navigation token embeddings |
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| `tokenizer.json`, `tokenizer_config.json`, `chat_template.jinja`, `processor_config.json` | tokenizer / processor |
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| `eval_config.json` | processing parameters that must match training (video size, pooling, SlowFast history tiers, task settings); read automatically by the inference code |
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| `action_tokenizer/` | RVQ action-tokenizer bundle shared by navigation and tracking (one 3 × 256 residual codebook, horizon 10) |
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The bundle holds `manifest.json`, the per-level codebooks (`codebook_l{0,1,2}.npy`, 3 × 256 codes),
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`jacobian_weights.npy` and `alpha_per_source.json`. The model emits one `<act_l{level}_{code}>`
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token per level; the bundle decodes them into a `(10, 3)` chunk of robot-local waypoints
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`[forward_m, lateral_m (+left), yaw_rad (+ccw)]`. `eval_config.json` references the bundle by a
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path relative to this directory, so the inference code finds them without extra flags.
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## Usage
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```bash
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pip install "lightnav[vllm,video] @ git+https://github.com/lightrobo/LightNav-0"
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hf download LightOriginsHQ/LightNav-0 --local-dir ./LightNav-0-ckpt
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# offline prediction on a clip
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lightnav-predict --model_path ./LightNav-0-ckpt --backend vllm_local \
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--video clip.mp4 --fps 4 --instruction "follow the person in the red shirt"
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# serve (tracking prompt) and drive with the reference client
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lightnav-serve --task tracking --model_path ./LightNav-0-ckpt --backend vllm_local --port 8050
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lightnav-ws-client --server ws://localhost:8050 --video clip.mp4 --fps 4 \
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--instruction "follow the person in the red shirt"
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# navigation prompt (instruction following / object navigation)
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lightnav-serve --task vln --model_path ./LightNav-0-ckpt --backend vllm_local --port 8051
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```
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Habitat VLN-CE / ObjectNav and EVT-Bench evaluation recipes, the WebSocket protocol and the
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real-robot deployment guide are in the code repository's `docs/`.
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## Model details
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- Backbone: Qwen3-VL (4B), bf16; the trajectory / pointing tokens are ordinary rows of the
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embedding table, so the checkpoint loads with stock `transformers`.
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- Input: a SlowFast-compressed history of first-person RGB frames (model input 256×448, 4 fps)
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plus a natural-language instruction.
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- Output: dual-channel pointing tokens (`<apos_*>` / `<opos_*>`) followed by three RVQ action
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tokens (`<act_l0_*><act_l1_*><act_l2_*>`) decoded to a 10-step waypoint chunk.
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## License
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Apache License 2.0.
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action_tokenizer/alpha_per_source.json
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{
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"mode": "none",
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"note": "placeholder; per-source alpha is Phase 6",
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"global_scale": 1.0
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}
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action_tokenizer/codebook_l0.npy
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version https://git-lfs.github.com/spec/v1
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oid sha256:daaea83b3ae4637a042d1f61b34a687870d735ef709689e02c1e43d39aab6e16
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size 30848
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action_tokenizer/codebook_l1.npy
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version https://git-lfs.github.com/spec/v1
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oid sha256:dfde603f96b333cda4c676613ac2f772cec3906a8dbbb7a7415bfeb4aa04e4bf
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size 30848
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action_tokenizer/codebook_l2.npy
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version https://git-lfs.github.com/spec/v1
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oid sha256:2a7b186159bc9375997535008028930efe09c9b239a522639aff6febfac6c51c
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size 30848
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action_tokenizer/distance_l0.npy
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version https://git-lfs.github.com/spec/v1
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oid sha256:c52ba050dee23d720a805630eb9ff2530437cf6f0acc9de2ffd5b5658f6fb232
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size 262272
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action_tokenizer/distance_l1.npy
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version https://git-lfs.github.com/spec/v1
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oid sha256:4468921632e795389edf00bdb879bbf1670f4ed1e0a001649d7350a4e7669f5d
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size 262272
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action_tokenizer/distance_l2.npy
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version https://git-lfs.github.com/spec/v1
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size 262272
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action_tokenizer/jacobian_weights.npy
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version https://git-lfs.github.com/spec/v1
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size 248
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action_tokenizer/manifest.json
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{
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"format_version": 1,
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"method": "rvq",
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"horizon": 10,
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"representation": "se2_diff",
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"objective": "ade_v1",
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"encode": {
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"type": "ade",
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"heading_weight": 0.3
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},
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"levels": [
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256,
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256,
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256
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],
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"feature_dim": 30,
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"feature_space": "weighted_diff",
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"codebook_files": [
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"codebook_l0.npy",
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"codebook_l1.npy",
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"codebook_l2.npy"
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],
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"distance_files": [
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"distance_l0.npy",
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"distance_l1.npy",
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"distance_l2.npy"
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],
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"distance_metric": "weighted_diff_euclid",
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"jacobian_weights_file": "jacobian_weights.npy",
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"alpha_file": "alpha_per_source.json",
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"alpha_mode": "none",
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"vocab_layout": {
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"token_format": "<act_l{level}_{code}>",
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"segments": [
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{
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"level": 0,
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"size": 256
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},
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{
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"level": 1,
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"size": 256
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},
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{
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"level": 2,
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"size": 256
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}
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],
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"total_rows": 768
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},
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"stop": {
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"l0": 6,
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"codes": [
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6,
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122,
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174
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]
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}
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}
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chat_template.jinja
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{%- if tools %}
|
| 2 |
+
{{- '<|im_start|>system\n' }}
|
| 3 |
+
{%- if messages[0].role == 'system' %}
|
| 4 |
+
{%- if messages[0].content is string %}
|
| 5 |
+
{{- messages[0].content }}
|
| 6 |
+
{%- else %}
|
| 7 |
+
{%- for content in messages[0].content %}
|
| 8 |
+
{%- if 'text' in content %}
|
| 9 |
+
{{- content.text }}
|
| 10 |
+
{%- endif %}
|
| 11 |
+
{%- endfor %}
|
| 12 |
+
{%- endif %}
|
| 13 |
+
{{- '\n\n' }}
|
| 14 |
+
{%- endif %}
|
| 15 |
+
{{- "# Tools\n\nYou may call one or more functions to assist with the user query.\n\nYou are provided with function signatures within <tools></tools> XML tags:\n<tools>" }}
|
| 16 |
+
{%- for tool in tools %}
|
| 17 |
+
{{- "\n" }}
|
| 18 |
+
{{- tool | tojson }}
|
| 19 |
+
{%- endfor %}
|
| 20 |
+
{{- "\n</tools>\n\nFor each function call, return a json object with function name and arguments within <tool_call></tool_call> XML tags:\n<tool_call>\n{\"name\": <function-name>, \"arguments\": <args-json-object>}\n</tool_call><|im_end|>\n" }}
|
| 21 |
+
{%- else %}
|
| 22 |
+
{%- if messages[0].role == 'system' %}
|
| 23 |
+
{{- '<|im_start|>system\n' }}
|
| 24 |
+
{%- if messages[0].content is string %}
|
| 25 |
+
{{- messages[0].content }}
|
| 26 |
+
{%- else %}
|
| 27 |
+
{%- for content in messages[0].content %}
|
| 28 |
+
{%- if 'text' in content %}
|
| 29 |
+
{{- content.text }}
|
| 30 |
+
{%- endif %}
|
| 31 |
+
{%- endfor %}
|
| 32 |
+
{%- endif %}
|
| 33 |
+
{{- '<|im_end|>\n' }}
|
| 34 |
+
{%- endif %}
|
| 35 |
+
{%- endif %}
|
| 36 |
+
{%- set image_count = namespace(value=0) %}
|
| 37 |
+
{%- set video_count = namespace(value=0) %}
|
| 38 |
+
{%- for message in messages %}
|
| 39 |
+
{%- if message.role == "user" %}
|
| 40 |
+
{{- '<|im_start|>' + message.role + '\n' }}
|
| 41 |
+
{%- if message.content is string %}
|
| 42 |
+
{{- message.content }}
|
| 43 |
+
{%- else %}
|
| 44 |
+
{%- for content in message.content %}
|
| 45 |
+
{%- if content.type == 'image' or 'image' in content or 'image_url' in content %}
|
| 46 |
+
{%- set image_count.value = image_count.value + 1 %}
|
| 47 |
+
{%- if add_vision_id %}Picture {{ image_count.value }}: {% endif -%}
|
| 48 |
+
<|vision_start|><|image_pad|><|vision_end|>
|
| 49 |
+
{%- elif content.type == 'video' or 'video' in content %}
|
| 50 |
+
{%- set video_count.value = video_count.value + 1 %}
|
| 51 |
+
{%- if add_vision_id %}Video {{ video_count.value }}: {% endif -%}
|
| 52 |
+
<|vision_start|><|video_pad|><|vision_end|>
|
| 53 |
+
{%- elif 'text' in content %}
|
| 54 |
+
{{- content.text }}
|
| 55 |
+
{%- endif %}
|
| 56 |
+
{%- endfor %}
|
| 57 |
+
{%- endif %}
|
| 58 |
+
{{- '<|im_end|>\n' }}
|
| 59 |
+
{%- elif message.role == "assistant" %}
|
| 60 |
+
{{- '<|im_start|>' + message.role + '\n' }}
|
| 61 |
+
{%- if message.content is string %}
|
| 62 |
+
{{- message.content }}
|
| 63 |
+
{%- else %}
|
| 64 |
+
{%- for content_item in message.content %}
|
| 65 |
+
{%- if 'text' in content_item %}
|
| 66 |
+
{{- content_item.text }}
|
| 67 |
+
{%- endif %}
|
| 68 |
+
{%- endfor %}
|
| 69 |
+
{%- endif %}
|
| 70 |
+
{%- if message.tool_calls %}
|
| 71 |
+
{%- for tool_call in message.tool_calls %}
|
| 72 |
+
{%- if (loop.first and message.content) or (not loop.first) %}
|
| 73 |
+
{{- '\n' }}
|
| 74 |
+
{%- endif %}
|
| 75 |
+
{%- if tool_call.function %}
|
| 76 |
+
{%- set tool_call = tool_call.function %}
|
| 77 |
+
{%- endif %}
|
| 78 |
+
{{- '<tool_call>\n{"name": "' }}
|
| 79 |
+
{{- tool_call.name }}
|
| 80 |
+
{{- '", "arguments": ' }}
|
| 81 |
+
{%- if tool_call.arguments is string %}
|
| 82 |
+
{{- tool_call.arguments }}
|
| 83 |
+
{%- else %}
|
| 84 |
+
{{- tool_call.arguments | tojson }}
|
| 85 |
+
{%- endif %}
|
| 86 |
+
{{- '}\n</tool_call>' }}
|
| 87 |
+
{%- endfor %}
|
| 88 |
+
{%- endif %}
|
| 89 |
+
{{- '<|im_end|>\n' }}
|
| 90 |
+
{%- elif message.role == "tool" %}
|
| 91 |
+
{%- if loop.first or (messages[loop.index0 - 1].role != "tool") %}
|
| 92 |
+
{{- '<|im_start|>user' }}
|
| 93 |
+
{%- endif %}
|
| 94 |
+
{{- '\n<tool_response>\n' }}
|
| 95 |
+
{%- if message.content is string %}
|
| 96 |
+
{{- message.content }}
|
| 97 |
+
{%- else %}
|
| 98 |
+
{%- for content in message.content %}
|
| 99 |
+
{%- if content.type == 'image' or 'image' in content or 'image_url' in content %}
|
| 100 |
+
{%- set image_count.value = image_count.value + 1 %}
|
| 101 |
+
{%- if add_vision_id %}Picture {{ image_count.value }}: {% endif -%}
|
| 102 |
+
<|vision_start|><|image_pad|><|vision_end|>
|
| 103 |
+
{%- elif content.type == 'video' or 'video' in content %}
|
| 104 |
+
{%- set video_count.value = video_count.value + 1 %}
|
| 105 |
+
{%- if add_vision_id %}Video {{ video_count.value }}: {% endif -%}
|
| 106 |
+
<|vision_start|><|video_pad|><|vision_end|>
|
| 107 |
+
{%- elif 'text' in content %}
|
| 108 |
+
{{- content.text }}
|
| 109 |
+
{%- endif %}
|
| 110 |
+
{%- endfor %}
|
| 111 |
+
{%- endif %}
|
| 112 |
+
{{- '\n</tool_response>' }}
|
| 113 |
+
{%- if loop.last or (messages[loop.index0 + 1].role != "tool") %}
|
| 114 |
+
{{- '<|im_end|>\n' }}
|
| 115 |
+
{%- endif %}
|
| 116 |
+
{%- endif %}
|
| 117 |
+
{%- endfor %}
|
| 118 |
+
{%- if add_generation_prompt %}
|
| 119 |
+
{{- '<|im_start|>assistant\n' }}
|
| 120 |
+
{%- endif %}
|
config.json
ADDED
|
@@ -0,0 +1,75 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"architectures": [
|
| 3 |
+
"Qwen3VLForConditionalGeneration"
|
| 4 |
+
],
|
| 5 |
+
"encoder_data_balance": false,
|
| 6 |
+
"image_token_id": 151655,
|
| 7 |
+
"model_type": "qwen3_vl",
|
| 8 |
+
"motion_embedding_dim": 2560,
|
| 9 |
+
"motion_end_id": null,
|
| 10 |
+
"motion_head_align": 1,
|
| 11 |
+
"motion_id_bias": null,
|
| 12 |
+
"motion_pad_id": null,
|
| 13 |
+
"motion_projection_layers": 0,
|
| 14 |
+
"motion_start_id": null,
|
| 15 |
+
"num_motion_tokens": 0,
|
| 16 |
+
"split_embeddings": false,
|
| 17 |
+
"text_config": {
|
| 18 |
+
"attention_bias": false,
|
| 19 |
+
"attention_dropout": 0.0,
|
| 20 |
+
"bos_token_id": 151643,
|
| 21 |
+
"dtype": "bfloat16",
|
| 22 |
+
"eos_token_id": 151645,
|
| 23 |
+
"head_dim": 128,
|
| 24 |
+
"hidden_act": "silu",
|
| 25 |
+
"hidden_size": 2560,
|
| 26 |
+
"initializer_range": 0.02,
|
| 27 |
+
"intermediate_size": 9728,
|
| 28 |
+
"max_position_embeddings": 262144,
|
| 29 |
+
"model_type": "qwen3_vl_text",
|
| 30 |
+
"num_attention_heads": 32,
|
| 31 |
+
"num_hidden_layers": 36,
|
| 32 |
+
"num_key_value_heads": 8,
|
| 33 |
+
"pad_token_id": null,
|
| 34 |
+
"rms_norm_eps": 1e-06,
|
| 35 |
+
"rope_parameters": {
|
| 36 |
+
"mrope_interleaved": true,
|
| 37 |
+
"mrope_section": [
|
| 38 |
+
24,
|
| 39 |
+
20,
|
| 40 |
+
20
|
| 41 |
+
],
|
| 42 |
+
"rope_theta": 5000000,
|
| 43 |
+
"rope_type": "default"
|
| 44 |
+
},
|
| 45 |
+
"tie_word_embeddings": true,
|
| 46 |
+
"use_cache": true,
|
| 47 |
+
"vocab_size": 156048
|
| 48 |
+
},
|
| 49 |
+
"tie_word_embeddings": true,
|
| 50 |
+
"transformers_version": "5.8.0",
|
| 51 |
+
"video_token_id": 151656,
|
| 52 |
+
"vision_config": {
|
| 53 |
+
"deepstack_visual_indexes": [
|
| 54 |
+
5,
|
| 55 |
+
11,
|
| 56 |
+
17
|
| 57 |
+
],
|
| 58 |
+
"depth": 24,
|
| 59 |
+
"dtype": "bfloat16",
|
| 60 |
+
"hidden_act": "gelu_pytorch_tanh",
|
| 61 |
+
"hidden_size": 1024,
|
| 62 |
+
"in_channels": 3,
|
| 63 |
+
"initializer_range": 0.02,
|
| 64 |
+
"intermediate_size": 4096,
|
| 65 |
+
"model_type": "qwen3_vl_vision",
|
| 66 |
+
"num_heads": 16,
|
| 67 |
+
"num_position_embeddings": 2304,
|
| 68 |
+
"out_hidden_size": 2560,
|
| 69 |
+
"patch_size": 16,
|
| 70 |
+
"spatial_merge_size": 2,
|
| 71 |
+
"temporal_patch_size": 2
|
| 72 |
+
},
|
| 73 |
+
"vision_end_token_id": 151653,
|
| 74 |
+
"vision_start_token_id": 151652
|
| 75 |
+
}
|
eval_config.json
ADDED
|
@@ -0,0 +1,120 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"version": 1,
|
| 3 |
+
"common": {
|
| 4 |
+
"max_seq_len": 8192,
|
| 5 |
+
"video_size": [
|
| 6 |
+
256,
|
| 7 |
+
448
|
| 8 |
+
],
|
| 9 |
+
"pool_enable": true,
|
| 10 |
+
"pool_spatial": 2,
|
| 11 |
+
"pool_mode": "avg",
|
| 12 |
+
"pool_stage": "post_vit",
|
| 13 |
+
"native_resolution": false,
|
| 14 |
+
"native_max_pixels": 1048576
|
| 15 |
+
},
|
| 16 |
+
"tasks": {
|
| 17 |
+
"vlnce": {
|
| 18 |
+
"num_history_frames": 64,
|
| 19 |
+
"predict_horizon": 10,
|
| 20 |
+
"action_tokenizer": {
|
| 21 |
+
"method": "rvq",
|
| 22 |
+
"bundle_path": "action_tokenizer"
|
| 23 |
+
},
|
| 24 |
+
"slowfast_tiers": [
|
| 25 |
+
{
|
| 26 |
+
"name": "current",
|
| 27 |
+
"age_lo": 0,
|
| 28 |
+
"age_hi": 1,
|
| 29 |
+
"mode": "dense",
|
| 30 |
+
"pool_spatial": 1
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"name": "fast",
|
| 34 |
+
"age_lo": 2,
|
| 35 |
+
"age_hi": 33,
|
| 36 |
+
"mode": "dense",
|
| 37 |
+
"pool_spatial": 2
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "mid",
|
| 41 |
+
"age_lo": 34,
|
| 42 |
+
"age_hi": 89,
|
| 43 |
+
"mode": "burst",
|
| 44 |
+
"pair_stride": 6,
|
| 45 |
+
"pool_spatial": 2
|
| 46 |
+
},
|
| 47 |
+
{
|
| 48 |
+
"name": "long",
|
| 49 |
+
"age_lo": 90,
|
| 50 |
+
"age_hi": 1000000,
|
| 51 |
+
"mode": "span",
|
| 52 |
+
"num_pairs": 14,
|
| 53 |
+
"pool_spatial": 4
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"name": "anchor",
|
| 57 |
+
"age_lo": 0,
|
| 58 |
+
"age_hi": 0,
|
| 59 |
+
"mode": "anchor",
|
| 60 |
+
"num_frames": 2,
|
| 61 |
+
"pool_spatial": 4
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"prompt_style": "unified_traj",
|
| 65 |
+
"timestamp_relative": true,
|
| 66 |
+
"video_fps": 4
|
| 67 |
+
},
|
| 68 |
+
"trackvla": {
|
| 69 |
+
"num_history_frames": 64,
|
| 70 |
+
"predict_horizon": 10,
|
| 71 |
+
"action_tokenizer": {
|
| 72 |
+
"method": "rvq",
|
| 73 |
+
"bundle_path": "action_tokenizer"
|
| 74 |
+
},
|
| 75 |
+
"slowfast_tiers": [
|
| 76 |
+
{
|
| 77 |
+
"name": "current",
|
| 78 |
+
"age_lo": 0,
|
| 79 |
+
"age_hi": 1,
|
| 80 |
+
"mode": "dense",
|
| 81 |
+
"pool_spatial": 1
|
| 82 |
+
},
|
| 83 |
+
{
|
| 84 |
+
"name": "fast",
|
| 85 |
+
"age_lo": 2,
|
| 86 |
+
"age_hi": 33,
|
| 87 |
+
"mode": "dense",
|
| 88 |
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"pool_spatial": 2
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
+
"name": "mid",
|
| 92 |
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"age_lo": 34,
|
| 93 |
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"age_hi": 89,
|
| 94 |
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"mode": "burst",
|
| 95 |
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"pair_stride": 6,
|
| 96 |
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"pool_spatial": 2
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"name": "long",
|
| 100 |
+
"age_lo": 90,
|
| 101 |
+
"age_hi": 1000000,
|
| 102 |
+
"mode": "span",
|
| 103 |
+
"num_pairs": 14,
|
| 104 |
+
"pool_spatial": 4
|
| 105 |
+
},
|
| 106 |
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{
|
| 107 |
+
"name": "anchor",
|
| 108 |
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"age_lo": 0,
|
| 109 |
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"age_hi": 0,
|
| 110 |
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"mode": "anchor",
|
| 111 |
+
"num_frames": 2,
|
| 112 |
+
"pool_spatial": 4
|
| 113 |
+
}
|
| 114 |
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],
|
| 115 |
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"prompt_style": "unified_traj",
|
| 116 |
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"timestamp_relative": true,
|
| 117 |
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"video_fps": 4
|
| 118 |
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}
|
| 119 |
+
}
|
| 120 |
+
}
|
model-00001-of-00001.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ffc4a925378a881afa761865048eb8d07c55cacf5eaf66548b6641c39f67af18
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| 3 |
+
size 9695744034
|
model.safetensors.index.json
ADDED
|
@@ -0,0 +1,721 @@
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|
| 1 |
+
{
|
| 2 |
+
"metadata": {
|
| 3 |
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"total_size": 9695650816
|
| 4 |
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},
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| 5 |
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| 6 |
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"model.visual.patch_embed.proj.weight": "model-00001-of-00001.safetensors",
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"model.visual.blocks.0.norm2.bias": "model-00001-of-00001.safetensors",
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"model.visual.blocks.0.attn.qkv.weight": "model-00001-of-00001.safetensors",
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"model.visual.blocks.0.attn.qkv.bias": "model-00001-of-00001.safetensors",
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"model.visual.blocks.0.attn.proj.weight": "model-00001-of-00001.safetensors",
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| 16 |
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"model.visual.blocks.0.attn.proj.bias": "model-00001-of-00001.safetensors",
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| 17 |
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"model.visual.blocks.0.mlp.linear_fc1.weight": "model-00001-of-00001.safetensors",
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| 18 |
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| 19 |
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| 20 |
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processor_config.json
ADDED
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"image_processor": {
|
| 3 |
+
"do_convert_rgb": true,
|
| 4 |
+
"do_normalize": true,
|
| 5 |
+
"do_rescale": true,
|
| 6 |
+
"do_resize": false,
|
| 7 |
+
"image_mean": [
|
| 8 |
+
0.5,
|
| 9 |
+
0.5,
|
| 10 |
+
0.5
|
| 11 |
+
],
|
| 12 |
+
"image_processor_type": "Qwen2VLImageProcessor",
|
| 13 |
+
"image_std": [
|
| 14 |
+
0.5,
|
| 15 |
+
0.5,
|
| 16 |
+
0.5
|
| 17 |
+
],
|
| 18 |
+
"merge_size": 2,
|
| 19 |
+
"patch_size": 16,
|
| 20 |
+
"resample": 3,
|
| 21 |
+
"rescale_factor": 0.00392156862745098,
|
| 22 |
+
"size": {
|
| 23 |
+
"longest_edge": 1048576,
|
| 24 |
+
"shortest_edge": 1024
|
| 25 |
+
},
|
| 26 |
+
"temporal_patch_size": 2
|
| 27 |
+
},
|
| 28 |
+
"processor_class": "VLNQwen3VLProcessor",
|
| 29 |
+
"video_processor": {
|
| 30 |
+
"do_convert_rgb": true,
|
| 31 |
+
"do_normalize": true,
|
| 32 |
+
"do_rescale": false,
|
| 33 |
+
"do_resize": false,
|
| 34 |
+
"do_sample_frames": false,
|
| 35 |
+
"fps": 4,
|
| 36 |
+
"image_mean": [
|
| 37 |
+
0.5,
|
| 38 |
+
0.5,
|
| 39 |
+
0.5
|
| 40 |
+
],
|
| 41 |
+
"image_std": [
|
| 42 |
+
0.5,
|
| 43 |
+
0.5,
|
| 44 |
+
0.5
|
| 45 |
+
],
|
| 46 |
+
"max_frames": 768,
|
| 47 |
+
"merge_size": 2,
|
| 48 |
+
"min_frames": 4,
|
| 49 |
+
"patch_size": 16,
|
| 50 |
+
"resample": 3,
|
| 51 |
+
"rescale_factor": 0.00392156862745098,
|
| 52 |
+
"return_metadata": false,
|
| 53 |
+
"size": {
|
| 54 |
+
"longest_edge": 1048576,
|
| 55 |
+
"shortest_edge": 1024
|
| 56 |
+
},
|
| 57 |
+
"temporal_patch_size": 2,
|
| 58 |
+
"video_processor_type": "Qwen3VLVideoProcessor"
|
| 59 |
+
}
|
| 60 |
+
}
|
tokenizer.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5ef513b0453e878d3ef6c1c3a51a11403a404358b763f4d83e23b2c3815f2ab6
|
| 3 |
+
size 12240884
|
tokenizer_config.json
ADDED
|
@@ -0,0 +1,3390 @@
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|
| 1 |
+
{
|
| 2 |
+
"add_prefix_space": false,
|
| 3 |
+
"backend": "tokenizers",
|
| 4 |
+
"bos_token": null,
|
| 5 |
+
"clean_up_tokenization_spaces": false,
|
| 6 |
+
"eos_token": "<|im_end|>",
|
| 7 |
+
"errors": "replace",
|
| 8 |
+
"extra_special_tokens": [
|
| 9 |
+
"<navigation_task>",
|
| 10 |
+
"</navigation_task>",
|
| 11 |
+
"<turn_left>",
|
| 12 |
+
"<turn_right>",
|
| 13 |
+
"<move_forward>",
|
| 14 |
+
"<stop>",
|
| 15 |
+
"<act_l0_0>",
|
| 16 |
+
"<act_l0_1>",
|
| 17 |
+
"<act_l0_2>",
|
| 18 |
+
"<act_l0_3>",
|
| 19 |
+
"<act_l0_4>",
|
| 20 |
+
"<act_l0_5>",
|
| 21 |
+
"<act_l0_6>",
|
| 22 |
+
"<act_l0_7>",
|
| 23 |
+
"<act_l0_8>",
|
| 24 |
+
"<act_l0_9>",
|
| 25 |
+
"<act_l0_10>",
|
| 26 |
+
"<act_l0_11>",
|
| 27 |
+
"<act_l0_12>",
|
| 28 |
+
"<act_l0_13>",
|
| 29 |
+
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| 30 |
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| 31 |
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| 1869 |
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| 1917 |
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| 1920 |
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| 1921 |
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| 1922 |
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| 1923 |
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| 1924 |
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| 1925 |
+
"<apos_1142>",
|
| 1926 |
+
"<apos_1143>",
|
| 1927 |
+
"<apos_1144>",
|
| 1928 |
+
"<apos_1145>",
|
| 1929 |
+
"<apos_1146>",
|
| 1930 |
+
"<apos_1147>",
|
| 1931 |
+
"<apos_1148>",
|
| 1932 |
+
"<apos_1149>",
|
| 1933 |
+
"<apos_1150>",
|
| 1934 |
+
"<apos_1151>",
|
| 1935 |
+
"<apos_1152>",
|
| 1936 |
+
"<apos_1153>",
|
| 1937 |
+
"<apos_1154>",
|
| 1938 |
+
"<apos_1155>",
|
| 1939 |
+
"<apos_1156>",
|
| 1940 |
+
"<apos_1157>",
|
| 1941 |
+
"<apos_1158>",
|
| 1942 |
+
"<apos_1159>",
|
| 1943 |
+
"<apos_1160>",
|
| 1944 |
+
"<apos_1161>",
|
| 1945 |
+
"<apos_1162>",
|
| 1946 |
+
"<apos_1163>",
|
| 1947 |
+
"<apos_1164>",
|
| 1948 |
+
"<apos_1165>",
|
| 1949 |
+
"<apos_1166>",
|
| 1950 |
+
"<apos_1167>",
|
| 1951 |
+
"<apos_1168>",
|
| 1952 |
+
"<apos_1169>",
|
| 1953 |
+
"<apos_1170>",
|
| 1954 |
+
"<apos_1171>",
|
| 1955 |
+
"<apos_1172>",
|
| 1956 |
+
"<apos_1173>",
|
| 1957 |
+
"<apos_1174>",
|
| 1958 |
+
"<apos_1175>",
|
| 1959 |
+
"<apos_1176>",
|
| 1960 |
+
"<apos_1177>",
|
| 1961 |
+
"<apos_1178>",
|
| 1962 |
+
"<apos_1179>",
|
| 1963 |
+
"<apos_1180>",
|
| 1964 |
+
"<apos_1181>",
|
| 1965 |
+
"<apos_1182>",
|
| 1966 |
+
"<apos_1183>",
|
| 1967 |
+
"<apos_1184>",
|
| 1968 |
+
"<apos_1185>",
|
| 1969 |
+
"<apos_1186>",
|
| 1970 |
+
"<apos_1187>",
|
| 1971 |
+
"<apos_1188>",
|
| 1972 |
+
"<apos_1189>",
|
| 1973 |
+
"<apos_1190>",
|
| 1974 |
+
"<apos_1191>",
|
| 1975 |
+
"<apos_1192>",
|
| 1976 |
+
"<apos_1193>",
|
| 1977 |
+
"<apos_1194>",
|
| 1978 |
+
"<apos_1195>",
|
| 1979 |
+
"<apos_1196>",
|
| 1980 |
+
"<apos_1197>",
|
| 1981 |
+
"<apos_1198>",
|
| 1982 |
+
"<apos_1199>",
|
| 1983 |
+
"<apos_1200>",
|
| 1984 |
+
"<apos_1201>",
|
| 1985 |
+
"<apos_1202>",
|
| 1986 |
+
"<apos_1203>",
|
| 1987 |
+
"<apos_1204>",
|
| 1988 |
+
"<apos_1205>",
|
| 1989 |
+
"<apos_1206>",
|
| 1990 |
+
"<apos_1207>",
|
| 1991 |
+
"<apos_1208>",
|
| 1992 |
+
"<apos_1209>",
|
| 1993 |
+
"<apos_1210>",
|
| 1994 |
+
"<apos_1211>",
|
| 1995 |
+
"<apos_1212>",
|
| 1996 |
+
"<apos_1213>",
|
| 1997 |
+
"<apos_1214>",
|
| 1998 |
+
"<apos_1215>",
|
| 1999 |
+
"<apos_1216>",
|
| 2000 |
+
"<apos_1217>",
|
| 2001 |
+
"<apos_1218>",
|
| 2002 |
+
"<apos_1219>",
|
| 2003 |
+
"<apos_1220>",
|
| 2004 |
+
"<apos_1221>",
|
| 2005 |
+
"<apos_1222>",
|
| 2006 |
+
"<apos_1223>",
|
| 2007 |
+
"<apos_1224>",
|
| 2008 |
+
"<apos_1225>",
|
| 2009 |
+
"<apos_1226>",
|
| 2010 |
+
"<apos_1227>",
|
| 2011 |
+
"<apos_1228>",
|
| 2012 |
+
"<apos_1229>",
|
| 2013 |
+
"<apos_1230>",
|
| 2014 |
+
"<apos_1231>",
|
| 2015 |
+
"<apos_1232>",
|
| 2016 |
+
"<apos_1233>",
|
| 2017 |
+
"<apos_1234>",
|
| 2018 |
+
"<apos_1235>",
|
| 2019 |
+
"<apos_1236>",
|
| 2020 |
+
"<apos_1237>",
|
| 2021 |
+
"<apos_1238>",
|
| 2022 |
+
"<apos_1239>",
|
| 2023 |
+
"<apos_1240>",
|
| 2024 |
+
"<apos_1241>",
|
| 2025 |
+
"<apos_1242>",
|
| 2026 |
+
"<apos_1243>",
|
| 2027 |
+
"<apos_1244>",
|
| 2028 |
+
"<apos_1245>",
|
| 2029 |
+
"<apos_1246>",
|
| 2030 |
+
"<apos_1247>",
|
| 2031 |
+
"<apos_1248>",
|
| 2032 |
+
"<apos_1249>",
|
| 2033 |
+
"<apos_1250>",
|
| 2034 |
+
"<apos_1251>",
|
| 2035 |
+
"<apos_1252>",
|
| 2036 |
+
"<apos_1253>",
|
| 2037 |
+
"<apos_1254>",
|
| 2038 |
+
"<apos_1255>",
|
| 2039 |
+
"<apos_1256>",
|
| 2040 |
+
"<apos_1257>",
|
| 2041 |
+
"<apos_1258>",
|
| 2042 |
+
"<apos_1259>",
|
| 2043 |
+
"<apos_1260>",
|
| 2044 |
+
"<apos_1261>",
|
| 2045 |
+
"<apos_1262>",
|
| 2046 |
+
"<apos_1263>",
|
| 2047 |
+
"<apos_1264>",
|
| 2048 |
+
"<apos_1265>",
|
| 2049 |
+
"<apos_1266>",
|
| 2050 |
+
"<apos_1267>",
|
| 2051 |
+
"<apos_1268>",
|
| 2052 |
+
"<apos_1269>",
|
| 2053 |
+
"<apos_1270>",
|
| 2054 |
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"<apos_1271>",
|
| 2055 |
+
"<apos_1272>",
|
| 2056 |
+
"<apos_1273>",
|
| 2057 |
+
"<apos_1274>",
|
| 2058 |
+
"<apos_1275>",
|
| 2059 |
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"<apos_1276>",
|
| 2060 |
+
"<apos_1277>",
|
| 2061 |
+
"<apos_1278>",
|
| 2062 |
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"<apos_1279>",
|
| 2063 |
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"<apos_1280>",
|
| 2064 |
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|
| 2065 |
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|
| 2066 |
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|
| 2067 |
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|
| 2068 |
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"<apos_1285>",
|
| 2069 |
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|
| 2070 |
+
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|
| 2071 |
+
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|
| 2072 |
+
"<apos_1289>",
|
| 2073 |
+
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|
| 2074 |
+
"<apos_1291>",
|
| 2075 |
+
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|
| 2076 |
+
"<apos_1293>",
|
| 2077 |
+
"<apos_1294>",
|
| 2078 |
+
"<apos_1295>",
|
| 2079 |
+
"<apos_1296>",
|
| 2080 |
+
"<apos_1297>",
|
| 2081 |
+
"<apos_1298>",
|
| 2082 |
+
"<apos_1299>",
|
| 2083 |
+
"<opos_0>",
|
| 2084 |
+
"<opos_1>",
|
| 2085 |
+
"<opos_2>",
|
| 2086 |
+
"<opos_3>",
|
| 2087 |
+
"<opos_4>",
|
| 2088 |
+
"<opos_5>",
|
| 2089 |
+
"<opos_6>",
|
| 2090 |
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"<opos_7>",
|
| 2091 |
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"<opos_8>",
|
| 2092 |
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"<opos_9>",
|
| 2093 |
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"<opos_10>",
|
| 2094 |
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"<opos_11>",
|
| 2095 |
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"<opos_12>",
|
| 2096 |
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"<opos_13>",
|
| 2097 |
+
"<opos_14>",
|
| 2098 |
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"<opos_15>",
|
| 2099 |
+
"<opos_16>",
|
| 2100 |
+
"<opos_17>",
|
| 2101 |
+
"<opos_18>",
|
| 2102 |
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"<opos_19>",
|
| 2103 |
+
"<opos_20>",
|
| 2104 |
+
"<opos_21>",
|
| 2105 |
+
"<opos_22>",
|
| 2106 |
+
"<opos_23>",
|
| 2107 |
+
"<opos_24>",
|
| 2108 |
+
"<opos_25>",
|
| 2109 |
+
"<opos_26>",
|
| 2110 |
+
"<opos_27>",
|
| 2111 |
+
"<opos_28>",
|
| 2112 |
+
"<opos_29>",
|
| 2113 |
+
"<opos_30>",
|
| 2114 |
+
"<opos_31>",
|
| 2115 |
+
"<opos_32>",
|
| 2116 |
+
"<opos_33>",
|
| 2117 |
+
"<opos_34>",
|
| 2118 |
+
"<opos_35>",
|
| 2119 |
+
"<opos_36>",
|
| 2120 |
+
"<opos_37>",
|
| 2121 |
+
"<opos_38>",
|
| 2122 |
+
"<opos_39>",
|
| 2123 |
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"<opos_40>",
|
| 2124 |
+
"<opos_41>",
|
| 2125 |
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"<opos_42>",
|
| 2126 |
+
"<opos_43>",
|
| 2127 |
+
"<opos_44>",
|
| 2128 |
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"<opos_45>",
|
| 2129 |
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"<opos_46>",
|
| 2130 |
+
"<opos_47>",
|
| 2131 |
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"<opos_48>",
|
| 2132 |
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"<opos_49>",
|
| 2133 |
+
"<opos_50>",
|
| 2134 |
+
"<opos_51>",
|
| 2135 |
+
"<opos_52>",
|
| 2136 |
+
"<opos_53>",
|
| 2137 |
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"<opos_54>",
|
| 2138 |
+
"<opos_55>",
|
| 2139 |
+
"<opos_56>",
|
| 2140 |
+
"<opos_57>",
|
| 2141 |
+
"<opos_58>",
|
| 2142 |
+
"<opos_59>",
|
| 2143 |
+
"<opos_60>",
|
| 2144 |
+
"<opos_61>",
|
| 2145 |
+
"<opos_62>",
|
| 2146 |
+
"<opos_63>",
|
| 2147 |
+
"<opos_64>",
|
| 2148 |
+
"<opos_65>",
|
| 2149 |
+
"<opos_66>",
|
| 2150 |
+
"<opos_67>",
|
| 2151 |
+
"<opos_68>",
|
| 2152 |
+
"<opos_69>",
|
| 2153 |
+
"<opos_70>",
|
| 2154 |
+
"<opos_71>",
|
| 2155 |
+
"<opos_72>",
|
| 2156 |
+
"<opos_73>",
|
| 2157 |
+
"<opos_74>",
|
| 2158 |
+
"<opos_75>",
|
| 2159 |
+
"<opos_76>",
|
| 2160 |
+
"<opos_77>",
|
| 2161 |
+
"<opos_78>",
|
| 2162 |
+
"<opos_79>",
|
| 2163 |
+
"<opos_80>",
|
| 2164 |
+
"<opos_81>",
|
| 2165 |
+
"<opos_82>",
|
| 2166 |
+
"<opos_83>",
|
| 2167 |
+
"<opos_84>",
|
| 2168 |
+
"<opos_85>",
|
| 2169 |
+
"<opos_86>",
|
| 2170 |
+
"<opos_87>",
|
| 2171 |
+
"<opos_88>",
|
| 2172 |
+
"<opos_89>",
|
| 2173 |
+
"<opos_90>",
|
| 2174 |
+
"<opos_91>",
|
| 2175 |
+
"<opos_92>",
|
| 2176 |
+
"<opos_93>",
|
| 2177 |
+
"<opos_94>",
|
| 2178 |
+
"<opos_95>",
|
| 2179 |
+
"<opos_96>",
|
| 2180 |
+
"<opos_97>",
|
| 2181 |
+
"<opos_98>",
|
| 2182 |
+
"<opos_99>",
|
| 2183 |
+
"<opos_100>",
|
| 2184 |
+
"<opos_101>",
|
| 2185 |
+
"<opos_102>",
|
| 2186 |
+
"<opos_103>",
|
| 2187 |
+
"<opos_104>",
|
| 2188 |
+
"<opos_105>",
|
| 2189 |
+
"<opos_106>",
|
| 2190 |
+
"<opos_107>",
|
| 2191 |
+
"<opos_108>",
|
| 2192 |
+
"<opos_109>",
|
| 2193 |
+
"<opos_110>",
|
| 2194 |
+
"<opos_111>",
|
| 2195 |
+
"<opos_112>",
|
| 2196 |
+
"<opos_113>",
|
| 2197 |
+
"<opos_114>",
|
| 2198 |
+
"<opos_115>",
|
| 2199 |
+
"<opos_116>",
|
| 2200 |
+
"<opos_117>",
|
| 2201 |
+
"<opos_118>",
|
| 2202 |
+
"<opos_119>",
|
| 2203 |
+
"<opos_120>",
|
| 2204 |
+
"<opos_121>",
|
| 2205 |
+
"<opos_122>",
|
| 2206 |
+
"<opos_123>",
|
| 2207 |
+
"<opos_124>",
|
| 2208 |
+
"<opos_125>",
|
| 2209 |
+
"<opos_126>",
|
| 2210 |
+
"<opos_127>",
|
| 2211 |
+
"<opos_128>",
|
| 2212 |
+
"<opos_129>",
|
| 2213 |
+
"<opos_130>",
|
| 2214 |
+
"<opos_131>",
|
| 2215 |
+
"<opos_132>",
|
| 2216 |
+
"<opos_133>",
|
| 2217 |
+
"<opos_134>",
|
| 2218 |
+
"<opos_135>",
|
| 2219 |
+
"<opos_136>",
|
| 2220 |
+
"<opos_137>",
|
| 2221 |
+
"<opos_138>",
|
| 2222 |
+
"<opos_139>",
|
| 2223 |
+
"<opos_140>",
|
| 2224 |
+
"<opos_141>",
|
| 2225 |
+
"<opos_142>",
|
| 2226 |
+
"<opos_143>",
|
| 2227 |
+
"<opos_144>",
|
| 2228 |
+
"<opos_145>",
|
| 2229 |
+
"<opos_146>",
|
| 2230 |
+
"<opos_147>",
|
| 2231 |
+
"<opos_148>",
|
| 2232 |
+
"<opos_149>",
|
| 2233 |
+
"<opos_150>",
|
| 2234 |
+
"<opos_151>",
|
| 2235 |
+
"<opos_152>",
|
| 2236 |
+
"<opos_153>",
|
| 2237 |
+
"<opos_154>",
|
| 2238 |
+
"<opos_155>",
|
| 2239 |
+
"<opos_156>",
|
| 2240 |
+
"<opos_157>",
|
| 2241 |
+
"<opos_158>",
|
| 2242 |
+
"<opos_159>",
|
| 2243 |
+
"<opos_160>",
|
| 2244 |
+
"<opos_161>",
|
| 2245 |
+
"<opos_162>",
|
| 2246 |
+
"<opos_163>",
|
| 2247 |
+
"<opos_164>",
|
| 2248 |
+
"<opos_165>",
|
| 2249 |
+
"<opos_166>",
|
| 2250 |
+
"<opos_167>",
|
| 2251 |
+
"<opos_168>",
|
| 2252 |
+
"<opos_169>",
|
| 2253 |
+
"<opos_170>",
|
| 2254 |
+
"<opos_171>",
|
| 2255 |
+
"<opos_172>",
|
| 2256 |
+
"<opos_173>",
|
| 2257 |
+
"<opos_174>",
|
| 2258 |
+
"<opos_175>",
|
| 2259 |
+
"<opos_176>",
|
| 2260 |
+
"<opos_177>",
|
| 2261 |
+
"<opos_178>",
|
| 2262 |
+
"<opos_179>",
|
| 2263 |
+
"<opos_180>",
|
| 2264 |
+
"<opos_181>",
|
| 2265 |
+
"<opos_182>",
|
| 2266 |
+
"<opos_183>",
|
| 2267 |
+
"<opos_184>",
|
| 2268 |
+
"<opos_185>",
|
| 2269 |
+
"<opos_186>",
|
| 2270 |
+
"<opos_187>",
|
| 2271 |
+
"<opos_188>",
|
| 2272 |
+
"<opos_189>",
|
| 2273 |
+
"<opos_190>",
|
| 2274 |
+
"<opos_191>",
|
| 2275 |
+
"<opos_192>",
|
| 2276 |
+
"<opos_193>",
|
| 2277 |
+
"<opos_194>",
|
| 2278 |
+
"<opos_195>",
|
| 2279 |
+
"<opos_196>",
|
| 2280 |
+
"<opos_197>",
|
| 2281 |
+
"<opos_198>",
|
| 2282 |
+
"<opos_199>",
|
| 2283 |
+
"<opos_200>",
|
| 2284 |
+
"<opos_201>",
|
| 2285 |
+
"<opos_202>",
|
| 2286 |
+
"<opos_203>",
|
| 2287 |
+
"<opos_204>",
|
| 2288 |
+
"<opos_205>",
|
| 2289 |
+
"<opos_206>",
|
| 2290 |
+
"<opos_207>",
|
| 2291 |
+
"<opos_208>",
|
| 2292 |
+
"<opos_209>",
|
| 2293 |
+
"<opos_210>",
|
| 2294 |
+
"<opos_211>",
|
| 2295 |
+
"<opos_212>",
|
| 2296 |
+
"<opos_213>",
|
| 2297 |
+
"<opos_214>",
|
| 2298 |
+
"<opos_215>",
|
| 2299 |
+
"<opos_216>",
|
| 2300 |
+
"<opos_217>",
|
| 2301 |
+
"<opos_218>",
|
| 2302 |
+
"<opos_219>",
|
| 2303 |
+
"<opos_220>",
|
| 2304 |
+
"<opos_221>",
|
| 2305 |
+
"<opos_222>",
|
| 2306 |
+
"<opos_223>",
|
| 2307 |
+
"<opos_224>",
|
| 2308 |
+
"<opos_225>",
|
| 2309 |
+
"<opos_226>",
|
| 2310 |
+
"<opos_227>",
|
| 2311 |
+
"<opos_228>",
|
| 2312 |
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| 2313 |
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| 2314 |
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| 2315 |
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| 2316 |
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| 2317 |
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| 2318 |
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| 2319 |
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| 2320 |
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| 2321 |
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| 2323 |
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| 2325 |
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| 2326 |
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| 2327 |
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| 2328 |
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| 2329 |
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| 2330 |
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| 2331 |
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| 2332 |
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| 2333 |
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| 2334 |
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| 2339 |
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| 2340 |
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| 2342 |
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| 2343 |
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| 2344 |
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| 2350 |
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| 2355 |
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| 2360 |
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| 2364 |
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| 2380 |
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| 2388 |
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| 2390 |
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| 2398 |
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| 2399 |
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| 2400 |
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| 2401 |
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| 2410 |
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| 2411 |
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| 2413 |
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| 2418 |
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| 2421 |
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| 2422 |
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| 2423 |
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| 2428 |
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| 2430 |
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| 2440 |
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| 2445 |
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| 2450 |
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| 2460 |
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| 2461 |
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| 2464 |
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| 2465 |
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| 2466 |
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| 2467 |
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| 2468 |
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| 2469 |
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| 2470 |
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| 2472 |
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| 2473 |
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| 2475 |
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| 2477 |
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| 2478 |
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| 2479 |
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| 2480 |
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| 2481 |
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| 2482 |
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| 2483 |
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| 2484 |
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| 2487 |
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| 2489 |
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| 2490 |
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| 2491 |
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| 2492 |
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| 2493 |
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| 2497 |
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| 2498 |
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| 2499 |
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| 2500 |
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| 2505 |
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| 2508 |
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| 2509 |
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| 2510 |
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| 2511 |
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| 2513 |
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| 2514 |
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| 2521 |
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| 2528 |
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| 2570 |
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| 2685 |
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| 2688 |
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| 2695 |
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| 2699 |
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| 2700 |
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| 3086 |
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| 3087 |
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| 3089 |
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| 3090 |
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| 3091 |
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| 3092 |
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| 3098 |
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| 3380 |
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],
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"is_local": true,
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}
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