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Pepijn
14 lines
764 B
YAML
14 lines
764 B
YAML
# Paper-style joint sequence (pi0.5 §IV-B): one sample supervises the subtask
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# text with CE and, because the assistant turn is part of the prefix, conditions
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# the FAST and flow action losses on the same annotated subtask in one forward.
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# The supervised span is attended causally; the action losses see task + subtask.
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#
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# Pair with `--policy.joint_subtask_conditioning=true` at inference so the flow
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# prefix reproduces this layout (task turn with state + causal generated subtask).
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# Samples without a `subtask` annotation fall back to a plain task-prompt
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# low-level sample via `if_present`.
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messages:
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- {role: user, content: "${task}", stream: low_level}
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- {role: assistant, content: "${subtask}", stream: low_level, target: true, if_present: subtask}
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