diff --git "a/special_tokens_map.json" "b/special_tokens_map.json"
new file mode 100644--- /dev/null
+++ "b/special_tokens_map.json"
@@ -0,0 +1,14410 @@
+{
+  "additional_special_tokens": [
+    {
+      "content": "<|robot_action_start|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_end|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|instruction_start|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|instruction_end|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|control_mode_start|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|control_mode_end|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|embodiment_name_start|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|embodiment_name_end|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_0|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_1|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_2|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_3|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_4|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_5|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_6|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_7|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_8|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_9|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_10|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_11|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_12|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_13|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_14|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_15|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_16|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_17|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_18|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_19|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_20|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_21|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_22|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_23|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_24|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_25|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_26|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_27|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_28|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_29|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_30|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_31|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_32|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_33|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_34|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_35|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_36|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_37|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_38|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_39|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_40|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_41|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_42|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_43|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_44|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_45|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_46|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_47|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_48|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_49|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_50|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_51|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_52|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_53|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_54|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_55|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_56|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_57|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_58|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_59|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_60|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_61|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_62|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_63|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_64|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_65|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_66|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_67|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_68|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_69|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_70|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_71|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_72|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_73|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_74|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_75|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_76|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_77|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_78|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_79|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_80|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_81|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_82|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_83|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_84|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_85|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_86|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_87|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_88|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_89|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_90|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_91|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_92|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_93|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_94|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_95|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_96|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_97|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_98|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_99|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_100|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_101|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_102|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_103|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_104|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_105|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_106|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_107|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_108|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_109|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_110|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_111|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
+    },
+    {
+      "content": "<|robot_action_112|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false
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+}