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Jmni/zarr validation
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#373:
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jmni/zarr-validation
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feat(abc): ABC-130k mcap to zarr pipeline + yam_bimanual embodiment
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feat(abc): ABC-130k mcap to zarr pipeline + yam_bimanual embodiment
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feat(val): nested validation dataset groups
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refactoring aciton transforms
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pi0.5 keypoint action path + held-out-operator split for the fold-freeform fit tests: keypoints_wristframe_pi transform (138-D wrist-first keypoints + cartesian ee_pose prompt proprio), HumanBimanualKeypoints converter, PI resizes openpi action projection
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aidan/fold-freeform-keypoints
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pi0.5 keypoint action path + held-out-operator split for the fold-freeform fit tests: keypoints_wristframe_pi transform (138-D wrist-first keypoints + cartesian ee_pose prompt proprio), HumanBimanualKeypoints converter, PI resizes openpi action projection
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pi0.5 fold-freeform fit tests on the eval_gating recipe: cam6d + wrist6d data configs, cam-frame train_viz evaluator, CPU norm-stats + 2xH200 train launchers (flat 5e-5)
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aidan/fold-freeform-frames
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pi0.5 fold-freeform fit tests on the eval_gating recipe: cam6d + wrist6d data configs, cam-frame train_viz evaluator, CPU norm-stats + 2xH200 train launchers (flat 5e-5)
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jmni/zarr_registry
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