Add files using upload-large-folder tool
Browse files- checkpoint-10000/config.json +64 -0
- checkpoint-10000/experiment_cfg/metadata.json +195 -0
- checkpoint-10000/model-00001-of-00002.safetensors +3 -0
- checkpoint-10000/model-00002-of-00002.safetensors +3 -0
- checkpoint-10000/model.safetensors.index.json +0 -0
- checkpoint-10000/rng_state_0.pth +3 -0
- checkpoint-10000/rng_state_1.pth +3 -0
- checkpoint-10000/scheduler.pt +3 -0
- checkpoint-10000/trainer_state.json +0 -0
- checkpoint-6000/config.json +64 -0
- checkpoint-6000/experiment_cfg/metadata.json +195 -0
- checkpoint-6000/model-00001-of-00002.safetensors +3 -0
- checkpoint-6000/model-00002-of-00002.safetensors +3 -0
- checkpoint-6000/model.safetensors.index.json +0 -0
- checkpoint-6000/rng_state_0.pth +3 -0
- checkpoint-6000/rng_state_1.pth +3 -0
- checkpoint-6000/scheduler.pt +3 -0
- checkpoint-6000/trainer_state.json +0 -0
- checkpoint-7000/config.json +64 -0
- checkpoint-7000/experiment_cfg/metadata.json +195 -0
- checkpoint-7000/model-00002-of-00002.safetensors +3 -0
- checkpoint-7000/model.safetensors.index.json +0 -0
- checkpoint-7000/rng_state_0.pth +3 -0
- checkpoint-7000/rng_state_1.pth +3 -0
- checkpoint-7000/scheduler.pt +3 -0
- checkpoint-7000/trainer_state.json +0 -0
- checkpoint-8000/config.json +64 -0
- checkpoint-8000/experiment_cfg/metadata.json +195 -0
- checkpoint-8000/model-00001-of-00002.safetensors +3 -0
- checkpoint-8000/model-00002-of-00002.safetensors +3 -0
- checkpoint-8000/model.safetensors.index.json +0 -0
- checkpoint-8000/rng_state_0.pth +3 -0
- checkpoint-8000/rng_state_1.pth +3 -0
- checkpoint-8000/scheduler.pt +3 -0
- checkpoint-8000/trainer_state.json +0 -0
- checkpoint-9000/config.json +64 -0
- checkpoint-9000/experiment_cfg/metadata.json +195 -0
- checkpoint-9000/model-00002-of-00002.safetensors +3 -0
- checkpoint-9000/model.safetensors.index.json +0 -0
- checkpoint-9000/rng_state_0.pth +3 -0
- checkpoint-9000/rng_state_1.pth +3 -0
- checkpoint-9000/scheduler.pt +3 -0
- checkpoint-9000/trainer_state.json +0 -0
- config.json +64 -0
- experiment_cfg/metadata.json +195 -0
- model-00001-of-00002.safetensors +3 -0
- model-00002-of-00002.safetensors +3 -0
- model.safetensors.index.json +0 -0
- trainer_state.json +0 -0
- training_args.bin +3 -0
checkpoint-10000/config.json
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 32,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"action_dim": 32,
|
| 5 |
+
"action_horizon": 16,
|
| 6 |
+
"add_pos_embed": true,
|
| 7 |
+
"backbone_embedding_dim": 2048,
|
| 8 |
+
"diffusion_model_cfg": {
|
| 9 |
+
"attention_head_dim": 48,
|
| 10 |
+
"cross_attention_dim": 2048,
|
| 11 |
+
"dropout": 0.2,
|
| 12 |
+
"final_dropout": true,
|
| 13 |
+
"interleave_self_attention": true,
|
| 14 |
+
"norm_type": "ada_norm",
|
| 15 |
+
"num_attention_heads": 32,
|
| 16 |
+
"num_layers": 16,
|
| 17 |
+
"output_dim": 1024,
|
| 18 |
+
"positional_embeddings": null
|
| 19 |
+
},
|
| 20 |
+
"hidden_size": 1024,
|
| 21 |
+
"input_embedding_dim": 1536,
|
| 22 |
+
"max_action_dim": 32,
|
| 23 |
+
"max_state_dim": 64,
|
| 24 |
+
"model_dtype": "float32",
|
| 25 |
+
"noise_beta_alpha": 1.5,
|
| 26 |
+
"noise_beta_beta": 1.0,
|
| 27 |
+
"noise_s": 0.999,
|
| 28 |
+
"num_inference_timesteps": 4,
|
| 29 |
+
"num_target_vision_tokens": 32,
|
| 30 |
+
"num_timestep_buckets": 1000,
|
| 31 |
+
"tune_diffusion_model": true,
|
| 32 |
+
"tune_projector": true,
|
| 33 |
+
"use_vlln": true,
|
| 34 |
+
"vl_self_attention_cfg": {
|
| 35 |
+
"attention_head_dim": 64,
|
| 36 |
+
"dropout": 0.2,
|
| 37 |
+
"final_dropout": true,
|
| 38 |
+
"num_attention_heads": 32,
|
| 39 |
+
"num_layers": 4,
|
| 40 |
+
"positional_embeddings": null
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"action_horizon": 16,
|
| 44 |
+
"architectures": [
|
| 45 |
+
"GR00T_N1_5"
|
| 46 |
+
],
|
| 47 |
+
"attn_implementation": null,
|
| 48 |
+
"backbone_cfg": {
|
| 49 |
+
"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
|
| 50 |
+
"load_bf16": false,
|
| 51 |
+
"project_to_dim": null,
|
| 52 |
+
"reproject_vision": false,
|
| 53 |
+
"select_layer": 12,
|
| 54 |
+
"tune_llm": false,
|
| 55 |
+
"tune_visual": true,
|
| 56 |
+
"use_flash_attention": true
|
| 57 |
+
},
|
| 58 |
+
"compute_dtype": "bfloat16",
|
| 59 |
+
"hidden_size": 2048,
|
| 60 |
+
"model_dtype": "float32",
|
| 61 |
+
"model_type": "gr00t_n1_5",
|
| 62 |
+
"torch_dtype": "bfloat16",
|
| 63 |
+
"transformers_version": "4.51.3"
|
| 64 |
+
}
|
checkpoint-10000/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,195 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"new_embodiment": {
|
| 3 |
+
"statistics": {
|
| 4 |
+
"state": {
|
| 5 |
+
"single_arm": {
|
| 6 |
+
"max": [
|
| 7 |
+
0.7119408845901489,
|
| 8 |
+
0.6336884498596191,
|
| 9 |
+
1.6356228590011597,
|
| 10 |
+
1.612607479095459,
|
| 11 |
+
0.05677114799618721
|
| 12 |
+
],
|
| 13 |
+
"min": [
|
| 14 |
+
-0.6996660828590393,
|
| 15 |
+
-1.807470679283142,
|
| 16 |
+
-0.421947717666626,
|
| 17 |
+
-1.0464303493499756,
|
| 18 |
+
-2.122013568878174
|
| 19 |
+
],
|
| 20 |
+
"mean": [
|
| 21 |
+
0.055539075285196304,
|
| 22 |
+
-0.846017599105835,
|
| 23 |
+
1.0085504055023193,
|
| 24 |
+
0.7250792384147644,
|
| 25 |
+
-1.54018235206604
|
| 26 |
+
],
|
| 27 |
+
"std": [
|
| 28 |
+
0.342788428068161,
|
| 29 |
+
0.7538483142852783,
|
| 30 |
+
0.4811265468597412,
|
| 31 |
+
0.5023943781852722,
|
| 32 |
+
0.13101021945476532
|
| 33 |
+
],
|
| 34 |
+
"q01": [
|
| 35 |
+
-0.6413605809211731,
|
| 36 |
+
-1.778317928314209,
|
| 37 |
+
-0.2680672299861908,
|
| 38 |
+
-0.5278182625770569,
|
| 39 |
+
-1.7804966950416565
|
| 40 |
+
],
|
| 41 |
+
"q99": [
|
| 42 |
+
0.5124747157096863,
|
| 43 |
+
0.55697101354599,
|
| 44 |
+
1.5308417570590973,
|
| 45 |
+
1.4034902346134186,
|
| 46 |
+
-1.2842555046081543
|
| 47 |
+
]
|
| 48 |
+
},
|
| 49 |
+
"gripper": {
|
| 50 |
+
"max": [
|
| 51 |
+
1.11394202709198
|
| 52 |
+
],
|
| 53 |
+
"min": [
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
"mean": [
|
| 57 |
+
0.2416374385356903
|
| 58 |
+
],
|
| 59 |
+
"std": [
|
| 60 |
+
0.2475089430809021
|
| 61 |
+
],
|
| 62 |
+
"q01": [
|
| 63 |
+
0.006137421354651451
|
| 64 |
+
],
|
| 65 |
+
"q99": [
|
| 66 |
+
0.9217026126384735
|
| 67 |
+
]
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"action": {
|
| 71 |
+
"single_arm": {
|
| 72 |
+
"max": [
|
| 73 |
+
0.741093635559082,
|
| 74 |
+
0.5953298807144165,
|
| 75 |
+
1.6279510259628296,
|
| 76 |
+
1.6003326177597046,
|
| 77 |
+
0.06290856748819351
|
| 78 |
+
],
|
| 79 |
+
"min": [
|
| 80 |
+
-0.741093635559082,
|
| 81 |
+
-1.8780510425567627,
|
| 82 |
+
-0.5554366707801819,
|
| 83 |
+
-1.1032015085220337,
|
| 84 |
+
-2.12508225440979
|
| 85 |
+
],
|
| 86 |
+
"mean": [
|
| 87 |
+
0.06122366711497307,
|
| 88 |
+
-0.9115849137306213,
|
| 89 |
+
0.9640885591506958,
|
| 90 |
+
0.7144355177879333,
|
| 91 |
+
-1.5393561124801636
|
| 92 |
+
],
|
| 93 |
+
"std": [
|
| 94 |
+
0.35077351331710815,
|
| 95 |
+
0.7666987180709839,
|
| 96 |
+
0.5521473288536072,
|
| 97 |
+
0.5145319104194641,
|
| 98 |
+
0.13183332979679108
|
| 99 |
+
],
|
| 100 |
+
"q01": [
|
| 101 |
+
-0.6347781735658645,
|
| 102 |
+
-1.874982237815857,
|
| 103 |
+
-0.4076475277543068,
|
| 104 |
+
-0.5703352582454682,
|
| 105 |
+
-1.779852271080017
|
| 106 |
+
],
|
| 107 |
+
"q99": [
|
| 108 |
+
0.5339556932449341,
|
| 109 |
+
0.5104953962564469,
|
| 110 |
+
1.6049357652664185,
|
| 111 |
+
1.412895840406418,
|
| 112 |
+
-1.2717811787128446
|
| 113 |
+
]
|
| 114 |
+
},
|
| 115 |
+
"gripper": {
|
| 116 |
+
"max": [
|
| 117 |
+
1.1246825456619263
|
| 118 |
+
],
|
| 119 |
+
"min": [
|
| 120 |
+
-0.026084041222929955
|
| 121 |
+
],
|
| 122 |
+
"mean": [
|
| 123 |
+
0.22775891423225403
|
| 124 |
+
],
|
| 125 |
+
"std": [
|
| 126 |
+
0.2665541470050812
|
| 127 |
+
],
|
| 128 |
+
"q01": [
|
| 129 |
+
-0.010740487836301327
|
| 130 |
+
],
|
| 131 |
+
"q99": [
|
| 132 |
+
0.9495204681158068
|
| 133 |
+
]
|
| 134 |
+
}
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"modalities": {
|
| 138 |
+
"video": {
|
| 139 |
+
"gripper_cam": {
|
| 140 |
+
"resolution": [
|
| 141 |
+
1920,
|
| 142 |
+
1080
|
| 143 |
+
],
|
| 144 |
+
"channels": 3,
|
| 145 |
+
"fps": 60.0
|
| 146 |
+
},
|
| 147 |
+
"front_cam": {
|
| 148 |
+
"resolution": [
|
| 149 |
+
1920,
|
| 150 |
+
1080
|
| 151 |
+
],
|
| 152 |
+
"channels": 3,
|
| 153 |
+
"fps": 60.0
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"state": {
|
| 157 |
+
"single_arm": {
|
| 158 |
+
"absolute": true,
|
| 159 |
+
"rotation_type": null,
|
| 160 |
+
"shape": [
|
| 161 |
+
5
|
| 162 |
+
],
|
| 163 |
+
"continuous": true
|
| 164 |
+
},
|
| 165 |
+
"gripper": {
|
| 166 |
+
"absolute": true,
|
| 167 |
+
"rotation_type": null,
|
| 168 |
+
"shape": [
|
| 169 |
+
1
|
| 170 |
+
],
|
| 171 |
+
"continuous": true
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"action": {
|
| 175 |
+
"single_arm": {
|
| 176 |
+
"absolute": true,
|
| 177 |
+
"rotation_type": null,
|
| 178 |
+
"shape": [
|
| 179 |
+
5
|
| 180 |
+
],
|
| 181 |
+
"continuous": true
|
| 182 |
+
},
|
| 183 |
+
"gripper": {
|
| 184 |
+
"absolute": true,
|
| 185 |
+
"rotation_type": null,
|
| 186 |
+
"shape": [
|
| 187 |
+
1
|
| 188 |
+
],
|
| 189 |
+
"continuous": true
|
| 190 |
+
}
|
| 191 |
+
}
|
| 192 |
+
},
|
| 193 |
+
"embodiment_tag": "new_embodiment"
|
| 194 |
+
}
|
| 195 |
+
}
|
checkpoint-10000/model-00001-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7f06e363badeb2542664108c5ecba102df705e3ce75b791736e5db013a9afb23
|
| 3 |
+
size 4999367032
|
checkpoint-10000/model-00002-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3cfd89c37720b9e1ab09bac2f16634a8b4b6e9786f5f6d39e16d222a0945bc4d
|
| 3 |
+
size 2586705312
|
checkpoint-10000/model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
checkpoint-10000/rng_state_0.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:83d94ac1b893cca7d34628f9dca1b917e6a2905f1188673638692392a89f8344
|
| 3 |
+
size 14512
|
checkpoint-10000/rng_state_1.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:50d76c0148abe86593d3589fb068fec9dd433d15f86bc78e5e651cffb1051178
|
| 3 |
+
size 14512
|
checkpoint-10000/scheduler.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:07356cb668b8efc440ddb2f7f81f7da3152060e81d0229922fa3b30df3313f82
|
| 3 |
+
size 1064
|
checkpoint-10000/trainer_state.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
checkpoint-6000/config.json
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 32,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"action_dim": 32,
|
| 5 |
+
"action_horizon": 16,
|
| 6 |
+
"add_pos_embed": true,
|
| 7 |
+
"backbone_embedding_dim": 2048,
|
| 8 |
+
"diffusion_model_cfg": {
|
| 9 |
+
"attention_head_dim": 48,
|
| 10 |
+
"cross_attention_dim": 2048,
|
| 11 |
+
"dropout": 0.2,
|
| 12 |
+
"final_dropout": true,
|
| 13 |
+
"interleave_self_attention": true,
|
| 14 |
+
"norm_type": "ada_norm",
|
| 15 |
+
"num_attention_heads": 32,
|
| 16 |
+
"num_layers": 16,
|
| 17 |
+
"output_dim": 1024,
|
| 18 |
+
"positional_embeddings": null
|
| 19 |
+
},
|
| 20 |
+
"hidden_size": 1024,
|
| 21 |
+
"input_embedding_dim": 1536,
|
| 22 |
+
"max_action_dim": 32,
|
| 23 |
+
"max_state_dim": 64,
|
| 24 |
+
"model_dtype": "float32",
|
| 25 |
+
"noise_beta_alpha": 1.5,
|
| 26 |
+
"noise_beta_beta": 1.0,
|
| 27 |
+
"noise_s": 0.999,
|
| 28 |
+
"num_inference_timesteps": 4,
|
| 29 |
+
"num_target_vision_tokens": 32,
|
| 30 |
+
"num_timestep_buckets": 1000,
|
| 31 |
+
"tune_diffusion_model": true,
|
| 32 |
+
"tune_projector": true,
|
| 33 |
+
"use_vlln": true,
|
| 34 |
+
"vl_self_attention_cfg": {
|
| 35 |
+
"attention_head_dim": 64,
|
| 36 |
+
"dropout": 0.2,
|
| 37 |
+
"final_dropout": true,
|
| 38 |
+
"num_attention_heads": 32,
|
| 39 |
+
"num_layers": 4,
|
| 40 |
+
"positional_embeddings": null
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"action_horizon": 16,
|
| 44 |
+
"architectures": [
|
| 45 |
+
"GR00T_N1_5"
|
| 46 |
+
],
|
| 47 |
+
"attn_implementation": null,
|
| 48 |
+
"backbone_cfg": {
|
| 49 |
+
"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
|
| 50 |
+
"load_bf16": false,
|
| 51 |
+
"project_to_dim": null,
|
| 52 |
+
"reproject_vision": false,
|
| 53 |
+
"select_layer": 12,
|
| 54 |
+
"tune_llm": false,
|
| 55 |
+
"tune_visual": true,
|
| 56 |
+
"use_flash_attention": true
|
| 57 |
+
},
|
| 58 |
+
"compute_dtype": "bfloat16",
|
| 59 |
+
"hidden_size": 2048,
|
| 60 |
+
"model_dtype": "float32",
|
| 61 |
+
"model_type": "gr00t_n1_5",
|
| 62 |
+
"torch_dtype": "bfloat16",
|
| 63 |
+
"transformers_version": "4.51.3"
|
| 64 |
+
}
|
checkpoint-6000/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,195 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"new_embodiment": {
|
| 3 |
+
"statistics": {
|
| 4 |
+
"state": {
|
| 5 |
+
"single_arm": {
|
| 6 |
+
"max": [
|
| 7 |
+
0.7119408845901489,
|
| 8 |
+
0.6336884498596191,
|
| 9 |
+
1.6356228590011597,
|
| 10 |
+
1.612607479095459,
|
| 11 |
+
0.05677114799618721
|
| 12 |
+
],
|
| 13 |
+
"min": [
|
| 14 |
+
-0.6996660828590393,
|
| 15 |
+
-1.807470679283142,
|
| 16 |
+
-0.421947717666626,
|
| 17 |
+
-1.0464303493499756,
|
| 18 |
+
-2.122013568878174
|
| 19 |
+
],
|
| 20 |
+
"mean": [
|
| 21 |
+
0.055539075285196304,
|
| 22 |
+
-0.846017599105835,
|
| 23 |
+
1.0085504055023193,
|
| 24 |
+
0.7250792384147644,
|
| 25 |
+
-1.54018235206604
|
| 26 |
+
],
|
| 27 |
+
"std": [
|
| 28 |
+
0.342788428068161,
|
| 29 |
+
0.7538483142852783,
|
| 30 |
+
0.4811265468597412,
|
| 31 |
+
0.5023943781852722,
|
| 32 |
+
0.13101021945476532
|
| 33 |
+
],
|
| 34 |
+
"q01": [
|
| 35 |
+
-0.6413605809211731,
|
| 36 |
+
-1.778317928314209,
|
| 37 |
+
-0.2680672299861908,
|
| 38 |
+
-0.5278182625770569,
|
| 39 |
+
-1.7804966950416565
|
| 40 |
+
],
|
| 41 |
+
"q99": [
|
| 42 |
+
0.5124747157096863,
|
| 43 |
+
0.55697101354599,
|
| 44 |
+
1.5308417570590973,
|
| 45 |
+
1.4034902346134186,
|
| 46 |
+
-1.2842555046081543
|
| 47 |
+
]
|
| 48 |
+
},
|
| 49 |
+
"gripper": {
|
| 50 |
+
"max": [
|
| 51 |
+
1.11394202709198
|
| 52 |
+
],
|
| 53 |
+
"min": [
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
"mean": [
|
| 57 |
+
0.2416374385356903
|
| 58 |
+
],
|
| 59 |
+
"std": [
|
| 60 |
+
0.2475089430809021
|
| 61 |
+
],
|
| 62 |
+
"q01": [
|
| 63 |
+
0.006137421354651451
|
| 64 |
+
],
|
| 65 |
+
"q99": [
|
| 66 |
+
0.9217026126384735
|
| 67 |
+
]
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"action": {
|
| 71 |
+
"single_arm": {
|
| 72 |
+
"max": [
|
| 73 |
+
0.741093635559082,
|
| 74 |
+
0.5953298807144165,
|
| 75 |
+
1.6279510259628296,
|
| 76 |
+
1.6003326177597046,
|
| 77 |
+
0.06290856748819351
|
| 78 |
+
],
|
| 79 |
+
"min": [
|
| 80 |
+
-0.741093635559082,
|
| 81 |
+
-1.8780510425567627,
|
| 82 |
+
-0.5554366707801819,
|
| 83 |
+
-1.1032015085220337,
|
| 84 |
+
-2.12508225440979
|
| 85 |
+
],
|
| 86 |
+
"mean": [
|
| 87 |
+
0.06122366711497307,
|
| 88 |
+
-0.9115849137306213,
|
| 89 |
+
0.9640885591506958,
|
| 90 |
+
0.7144355177879333,
|
| 91 |
+
-1.5393561124801636
|
| 92 |
+
],
|
| 93 |
+
"std": [
|
| 94 |
+
0.35077351331710815,
|
| 95 |
+
0.7666987180709839,
|
| 96 |
+
0.5521473288536072,
|
| 97 |
+
0.5145319104194641,
|
| 98 |
+
0.13183332979679108
|
| 99 |
+
],
|
| 100 |
+
"q01": [
|
| 101 |
+
-0.6347781735658645,
|
| 102 |
+
-1.874982237815857,
|
| 103 |
+
-0.4076475277543068,
|
| 104 |
+
-0.5703352582454682,
|
| 105 |
+
-1.779852271080017
|
| 106 |
+
],
|
| 107 |
+
"q99": [
|
| 108 |
+
0.5339556932449341,
|
| 109 |
+
0.5104953962564469,
|
| 110 |
+
1.6049357652664185,
|
| 111 |
+
1.412895840406418,
|
| 112 |
+
-1.2717811787128446
|
| 113 |
+
]
|
| 114 |
+
},
|
| 115 |
+
"gripper": {
|
| 116 |
+
"max": [
|
| 117 |
+
1.1246825456619263
|
| 118 |
+
],
|
| 119 |
+
"min": [
|
| 120 |
+
-0.026084041222929955
|
| 121 |
+
],
|
| 122 |
+
"mean": [
|
| 123 |
+
0.22775891423225403
|
| 124 |
+
],
|
| 125 |
+
"std": [
|
| 126 |
+
0.2665541470050812
|
| 127 |
+
],
|
| 128 |
+
"q01": [
|
| 129 |
+
-0.010740487836301327
|
| 130 |
+
],
|
| 131 |
+
"q99": [
|
| 132 |
+
0.9495204681158068
|
| 133 |
+
]
|
| 134 |
+
}
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"modalities": {
|
| 138 |
+
"video": {
|
| 139 |
+
"gripper_cam": {
|
| 140 |
+
"resolution": [
|
| 141 |
+
1920,
|
| 142 |
+
1080
|
| 143 |
+
],
|
| 144 |
+
"channels": 3,
|
| 145 |
+
"fps": 60.0
|
| 146 |
+
},
|
| 147 |
+
"front_cam": {
|
| 148 |
+
"resolution": [
|
| 149 |
+
1920,
|
| 150 |
+
1080
|
| 151 |
+
],
|
| 152 |
+
"channels": 3,
|
| 153 |
+
"fps": 60.0
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"state": {
|
| 157 |
+
"single_arm": {
|
| 158 |
+
"absolute": true,
|
| 159 |
+
"rotation_type": null,
|
| 160 |
+
"shape": [
|
| 161 |
+
5
|
| 162 |
+
],
|
| 163 |
+
"continuous": true
|
| 164 |
+
},
|
| 165 |
+
"gripper": {
|
| 166 |
+
"absolute": true,
|
| 167 |
+
"rotation_type": null,
|
| 168 |
+
"shape": [
|
| 169 |
+
1
|
| 170 |
+
],
|
| 171 |
+
"continuous": true
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"action": {
|
| 175 |
+
"single_arm": {
|
| 176 |
+
"absolute": true,
|
| 177 |
+
"rotation_type": null,
|
| 178 |
+
"shape": [
|
| 179 |
+
5
|
| 180 |
+
],
|
| 181 |
+
"continuous": true
|
| 182 |
+
},
|
| 183 |
+
"gripper": {
|
| 184 |
+
"absolute": true,
|
| 185 |
+
"rotation_type": null,
|
| 186 |
+
"shape": [
|
| 187 |
+
1
|
| 188 |
+
],
|
| 189 |
+
"continuous": true
|
| 190 |
+
}
|
| 191 |
+
}
|
| 192 |
+
},
|
| 193 |
+
"embodiment_tag": "new_embodiment"
|
| 194 |
+
}
|
| 195 |
+
}
|
checkpoint-6000/model-00001-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7a3992e757ce89d1f1be6f6cf2652032f8579fb395f76f6489049a8704921198
|
| 3 |
+
size 4999367032
|
checkpoint-6000/model-00002-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:154ace247f532fbb2e918176a82b35f9eb80d7ff0bf96ab415ea3f5f18f7190b
|
| 3 |
+
size 2586705312
|
checkpoint-6000/model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
checkpoint-6000/rng_state_0.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ce1576ee07b943cd05fccc371a4563b6eb81f660830a847e634d4de3dfcf3989
|
| 3 |
+
size 14512
|
checkpoint-6000/rng_state_1.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:141dd14cc766a4d1d2e6bedf818a89c7a5f6cb252b747e23aab2aefa28833e16
|
| 3 |
+
size 14512
|
checkpoint-6000/scheduler.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8d6c0bf646ac78d188a2258804081d2e369772e8091e5395d9073771ec310aca
|
| 3 |
+
size 1064
|
checkpoint-6000/trainer_state.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
checkpoint-7000/config.json
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 32,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"action_dim": 32,
|
| 5 |
+
"action_horizon": 16,
|
| 6 |
+
"add_pos_embed": true,
|
| 7 |
+
"backbone_embedding_dim": 2048,
|
| 8 |
+
"diffusion_model_cfg": {
|
| 9 |
+
"attention_head_dim": 48,
|
| 10 |
+
"cross_attention_dim": 2048,
|
| 11 |
+
"dropout": 0.2,
|
| 12 |
+
"final_dropout": true,
|
| 13 |
+
"interleave_self_attention": true,
|
| 14 |
+
"norm_type": "ada_norm",
|
| 15 |
+
"num_attention_heads": 32,
|
| 16 |
+
"num_layers": 16,
|
| 17 |
+
"output_dim": 1024,
|
| 18 |
+
"positional_embeddings": null
|
| 19 |
+
},
|
| 20 |
+
"hidden_size": 1024,
|
| 21 |
+
"input_embedding_dim": 1536,
|
| 22 |
+
"max_action_dim": 32,
|
| 23 |
+
"max_state_dim": 64,
|
| 24 |
+
"model_dtype": "float32",
|
| 25 |
+
"noise_beta_alpha": 1.5,
|
| 26 |
+
"noise_beta_beta": 1.0,
|
| 27 |
+
"noise_s": 0.999,
|
| 28 |
+
"num_inference_timesteps": 4,
|
| 29 |
+
"num_target_vision_tokens": 32,
|
| 30 |
+
"num_timestep_buckets": 1000,
|
| 31 |
+
"tune_diffusion_model": true,
|
| 32 |
+
"tune_projector": true,
|
| 33 |
+
"use_vlln": true,
|
| 34 |
+
"vl_self_attention_cfg": {
|
| 35 |
+
"attention_head_dim": 64,
|
| 36 |
+
"dropout": 0.2,
|
| 37 |
+
"final_dropout": true,
|
| 38 |
+
"num_attention_heads": 32,
|
| 39 |
+
"num_layers": 4,
|
| 40 |
+
"positional_embeddings": null
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"action_horizon": 16,
|
| 44 |
+
"architectures": [
|
| 45 |
+
"GR00T_N1_5"
|
| 46 |
+
],
|
| 47 |
+
"attn_implementation": null,
|
| 48 |
+
"backbone_cfg": {
|
| 49 |
+
"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
|
| 50 |
+
"load_bf16": false,
|
| 51 |
+
"project_to_dim": null,
|
| 52 |
+
"reproject_vision": false,
|
| 53 |
+
"select_layer": 12,
|
| 54 |
+
"tune_llm": false,
|
| 55 |
+
"tune_visual": true,
|
| 56 |
+
"use_flash_attention": true
|
| 57 |
+
},
|
| 58 |
+
"compute_dtype": "bfloat16",
|
| 59 |
+
"hidden_size": 2048,
|
| 60 |
+
"model_dtype": "float32",
|
| 61 |
+
"model_type": "gr00t_n1_5",
|
| 62 |
+
"torch_dtype": "bfloat16",
|
| 63 |
+
"transformers_version": "4.51.3"
|
| 64 |
+
}
|
checkpoint-7000/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,195 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"new_embodiment": {
|
| 3 |
+
"statistics": {
|
| 4 |
+
"state": {
|
| 5 |
+
"single_arm": {
|
| 6 |
+
"max": [
|
| 7 |
+
0.7119408845901489,
|
| 8 |
+
0.6336884498596191,
|
| 9 |
+
1.6356228590011597,
|
| 10 |
+
1.612607479095459,
|
| 11 |
+
0.05677114799618721
|
| 12 |
+
],
|
| 13 |
+
"min": [
|
| 14 |
+
-0.6996660828590393,
|
| 15 |
+
-1.807470679283142,
|
| 16 |
+
-0.421947717666626,
|
| 17 |
+
-1.0464303493499756,
|
| 18 |
+
-2.122013568878174
|
| 19 |
+
],
|
| 20 |
+
"mean": [
|
| 21 |
+
0.055539075285196304,
|
| 22 |
+
-0.846017599105835,
|
| 23 |
+
1.0085504055023193,
|
| 24 |
+
0.7250792384147644,
|
| 25 |
+
-1.54018235206604
|
| 26 |
+
],
|
| 27 |
+
"std": [
|
| 28 |
+
0.342788428068161,
|
| 29 |
+
0.7538483142852783,
|
| 30 |
+
0.4811265468597412,
|
| 31 |
+
0.5023943781852722,
|
| 32 |
+
0.13101021945476532
|
| 33 |
+
],
|
| 34 |
+
"q01": [
|
| 35 |
+
-0.6413605809211731,
|
| 36 |
+
-1.778317928314209,
|
| 37 |
+
-0.2680672299861908,
|
| 38 |
+
-0.5278182625770569,
|
| 39 |
+
-1.7804966950416565
|
| 40 |
+
],
|
| 41 |
+
"q99": [
|
| 42 |
+
0.5124747157096863,
|
| 43 |
+
0.55697101354599,
|
| 44 |
+
1.5308417570590973,
|
| 45 |
+
1.4034902346134186,
|
| 46 |
+
-1.2842555046081543
|
| 47 |
+
]
|
| 48 |
+
},
|
| 49 |
+
"gripper": {
|
| 50 |
+
"max": [
|
| 51 |
+
1.11394202709198
|
| 52 |
+
],
|
| 53 |
+
"min": [
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
"mean": [
|
| 57 |
+
0.2416374385356903
|
| 58 |
+
],
|
| 59 |
+
"std": [
|
| 60 |
+
0.2475089430809021
|
| 61 |
+
],
|
| 62 |
+
"q01": [
|
| 63 |
+
0.006137421354651451
|
| 64 |
+
],
|
| 65 |
+
"q99": [
|
| 66 |
+
0.9217026126384735
|
| 67 |
+
]
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"action": {
|
| 71 |
+
"single_arm": {
|
| 72 |
+
"max": [
|
| 73 |
+
0.741093635559082,
|
| 74 |
+
0.5953298807144165,
|
| 75 |
+
1.6279510259628296,
|
| 76 |
+
1.6003326177597046,
|
| 77 |
+
0.06290856748819351
|
| 78 |
+
],
|
| 79 |
+
"min": [
|
| 80 |
+
-0.741093635559082,
|
| 81 |
+
-1.8780510425567627,
|
| 82 |
+
-0.5554366707801819,
|
| 83 |
+
-1.1032015085220337,
|
| 84 |
+
-2.12508225440979
|
| 85 |
+
],
|
| 86 |
+
"mean": [
|
| 87 |
+
0.06122366711497307,
|
| 88 |
+
-0.9115849137306213,
|
| 89 |
+
0.9640885591506958,
|
| 90 |
+
0.7144355177879333,
|
| 91 |
+
-1.5393561124801636
|
| 92 |
+
],
|
| 93 |
+
"std": [
|
| 94 |
+
0.35077351331710815,
|
| 95 |
+
0.7666987180709839,
|
| 96 |
+
0.5521473288536072,
|
| 97 |
+
0.5145319104194641,
|
| 98 |
+
0.13183332979679108
|
| 99 |
+
],
|
| 100 |
+
"q01": [
|
| 101 |
+
-0.6347781735658645,
|
| 102 |
+
-1.874982237815857,
|
| 103 |
+
-0.4076475277543068,
|
| 104 |
+
-0.5703352582454682,
|
| 105 |
+
-1.779852271080017
|
| 106 |
+
],
|
| 107 |
+
"q99": [
|
| 108 |
+
0.5339556932449341,
|
| 109 |
+
0.5104953962564469,
|
| 110 |
+
1.6049357652664185,
|
| 111 |
+
1.412895840406418,
|
| 112 |
+
-1.2717811787128446
|
| 113 |
+
]
|
| 114 |
+
},
|
| 115 |
+
"gripper": {
|
| 116 |
+
"max": [
|
| 117 |
+
1.1246825456619263
|
| 118 |
+
],
|
| 119 |
+
"min": [
|
| 120 |
+
-0.026084041222929955
|
| 121 |
+
],
|
| 122 |
+
"mean": [
|
| 123 |
+
0.22775891423225403
|
| 124 |
+
],
|
| 125 |
+
"std": [
|
| 126 |
+
0.2665541470050812
|
| 127 |
+
],
|
| 128 |
+
"q01": [
|
| 129 |
+
-0.010740487836301327
|
| 130 |
+
],
|
| 131 |
+
"q99": [
|
| 132 |
+
0.9495204681158068
|
| 133 |
+
]
|
| 134 |
+
}
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"modalities": {
|
| 138 |
+
"video": {
|
| 139 |
+
"gripper_cam": {
|
| 140 |
+
"resolution": [
|
| 141 |
+
1920,
|
| 142 |
+
1080
|
| 143 |
+
],
|
| 144 |
+
"channels": 3,
|
| 145 |
+
"fps": 60.0
|
| 146 |
+
},
|
| 147 |
+
"front_cam": {
|
| 148 |
+
"resolution": [
|
| 149 |
+
1920,
|
| 150 |
+
1080
|
| 151 |
+
],
|
| 152 |
+
"channels": 3,
|
| 153 |
+
"fps": 60.0
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"state": {
|
| 157 |
+
"single_arm": {
|
| 158 |
+
"absolute": true,
|
| 159 |
+
"rotation_type": null,
|
| 160 |
+
"shape": [
|
| 161 |
+
5
|
| 162 |
+
],
|
| 163 |
+
"continuous": true
|
| 164 |
+
},
|
| 165 |
+
"gripper": {
|
| 166 |
+
"absolute": true,
|
| 167 |
+
"rotation_type": null,
|
| 168 |
+
"shape": [
|
| 169 |
+
1
|
| 170 |
+
],
|
| 171 |
+
"continuous": true
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"action": {
|
| 175 |
+
"single_arm": {
|
| 176 |
+
"absolute": true,
|
| 177 |
+
"rotation_type": null,
|
| 178 |
+
"shape": [
|
| 179 |
+
5
|
| 180 |
+
],
|
| 181 |
+
"continuous": true
|
| 182 |
+
},
|
| 183 |
+
"gripper": {
|
| 184 |
+
"absolute": true,
|
| 185 |
+
"rotation_type": null,
|
| 186 |
+
"shape": [
|
| 187 |
+
1
|
| 188 |
+
],
|
| 189 |
+
"continuous": true
|
| 190 |
+
}
|
| 191 |
+
}
|
| 192 |
+
},
|
| 193 |
+
"embodiment_tag": "new_embodiment"
|
| 194 |
+
}
|
| 195 |
+
}
|
checkpoint-7000/model-00002-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:24bc3cf35587997081c634a1e9b2a8430f35c19199913d22fb7d224bee8496e7
|
| 3 |
+
size 2586705312
|
checkpoint-7000/model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
checkpoint-7000/rng_state_0.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7cbf32575974dd21faaeeca53c09838b4ae0ffa9d782d4036340287156bdb86b
|
| 3 |
+
size 14512
|
checkpoint-7000/rng_state_1.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:42fbf7bacc5945effbee20c68b895e21250b2ce7abae15965c0225b34f571bf7
|
| 3 |
+
size 14512
|
checkpoint-7000/scheduler.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:45049460c0fa55fae34b1884c511d0c5cb5241d0d636fad92c82b0e0a657580e
|
| 3 |
+
size 1064
|
checkpoint-7000/trainer_state.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
checkpoint-8000/config.json
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 32,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"action_dim": 32,
|
| 5 |
+
"action_horizon": 16,
|
| 6 |
+
"add_pos_embed": true,
|
| 7 |
+
"backbone_embedding_dim": 2048,
|
| 8 |
+
"diffusion_model_cfg": {
|
| 9 |
+
"attention_head_dim": 48,
|
| 10 |
+
"cross_attention_dim": 2048,
|
| 11 |
+
"dropout": 0.2,
|
| 12 |
+
"final_dropout": true,
|
| 13 |
+
"interleave_self_attention": true,
|
| 14 |
+
"norm_type": "ada_norm",
|
| 15 |
+
"num_attention_heads": 32,
|
| 16 |
+
"num_layers": 16,
|
| 17 |
+
"output_dim": 1024,
|
| 18 |
+
"positional_embeddings": null
|
| 19 |
+
},
|
| 20 |
+
"hidden_size": 1024,
|
| 21 |
+
"input_embedding_dim": 1536,
|
| 22 |
+
"max_action_dim": 32,
|
| 23 |
+
"max_state_dim": 64,
|
| 24 |
+
"model_dtype": "float32",
|
| 25 |
+
"noise_beta_alpha": 1.5,
|
| 26 |
+
"noise_beta_beta": 1.0,
|
| 27 |
+
"noise_s": 0.999,
|
| 28 |
+
"num_inference_timesteps": 4,
|
| 29 |
+
"num_target_vision_tokens": 32,
|
| 30 |
+
"num_timestep_buckets": 1000,
|
| 31 |
+
"tune_diffusion_model": true,
|
| 32 |
+
"tune_projector": true,
|
| 33 |
+
"use_vlln": true,
|
| 34 |
+
"vl_self_attention_cfg": {
|
| 35 |
+
"attention_head_dim": 64,
|
| 36 |
+
"dropout": 0.2,
|
| 37 |
+
"final_dropout": true,
|
| 38 |
+
"num_attention_heads": 32,
|
| 39 |
+
"num_layers": 4,
|
| 40 |
+
"positional_embeddings": null
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"action_horizon": 16,
|
| 44 |
+
"architectures": [
|
| 45 |
+
"GR00T_N1_5"
|
| 46 |
+
],
|
| 47 |
+
"attn_implementation": null,
|
| 48 |
+
"backbone_cfg": {
|
| 49 |
+
"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
|
| 50 |
+
"load_bf16": false,
|
| 51 |
+
"project_to_dim": null,
|
| 52 |
+
"reproject_vision": false,
|
| 53 |
+
"select_layer": 12,
|
| 54 |
+
"tune_llm": false,
|
| 55 |
+
"tune_visual": true,
|
| 56 |
+
"use_flash_attention": true
|
| 57 |
+
},
|
| 58 |
+
"compute_dtype": "bfloat16",
|
| 59 |
+
"hidden_size": 2048,
|
| 60 |
+
"model_dtype": "float32",
|
| 61 |
+
"model_type": "gr00t_n1_5",
|
| 62 |
+
"torch_dtype": "bfloat16",
|
| 63 |
+
"transformers_version": "4.51.3"
|
| 64 |
+
}
|
checkpoint-8000/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,195 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"new_embodiment": {
|
| 3 |
+
"statistics": {
|
| 4 |
+
"state": {
|
| 5 |
+
"single_arm": {
|
| 6 |
+
"max": [
|
| 7 |
+
0.7119408845901489,
|
| 8 |
+
0.6336884498596191,
|
| 9 |
+
1.6356228590011597,
|
| 10 |
+
1.612607479095459,
|
| 11 |
+
0.05677114799618721
|
| 12 |
+
],
|
| 13 |
+
"min": [
|
| 14 |
+
-0.6996660828590393,
|
| 15 |
+
-1.807470679283142,
|
| 16 |
+
-0.421947717666626,
|
| 17 |
+
-1.0464303493499756,
|
| 18 |
+
-2.122013568878174
|
| 19 |
+
],
|
| 20 |
+
"mean": [
|
| 21 |
+
0.055539075285196304,
|
| 22 |
+
-0.846017599105835,
|
| 23 |
+
1.0085504055023193,
|
| 24 |
+
0.7250792384147644,
|
| 25 |
+
-1.54018235206604
|
| 26 |
+
],
|
| 27 |
+
"std": [
|
| 28 |
+
0.342788428068161,
|
| 29 |
+
0.7538483142852783,
|
| 30 |
+
0.4811265468597412,
|
| 31 |
+
0.5023943781852722,
|
| 32 |
+
0.13101021945476532
|
| 33 |
+
],
|
| 34 |
+
"q01": [
|
| 35 |
+
-0.6413605809211731,
|
| 36 |
+
-1.778317928314209,
|
| 37 |
+
-0.2680672299861908,
|
| 38 |
+
-0.5278182625770569,
|
| 39 |
+
-1.7804966950416565
|
| 40 |
+
],
|
| 41 |
+
"q99": [
|
| 42 |
+
0.5124747157096863,
|
| 43 |
+
0.55697101354599,
|
| 44 |
+
1.5308417570590973,
|
| 45 |
+
1.4034902346134186,
|
| 46 |
+
-1.2842555046081543
|
| 47 |
+
]
|
| 48 |
+
},
|
| 49 |
+
"gripper": {
|
| 50 |
+
"max": [
|
| 51 |
+
1.11394202709198
|
| 52 |
+
],
|
| 53 |
+
"min": [
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
"mean": [
|
| 57 |
+
0.2416374385356903
|
| 58 |
+
],
|
| 59 |
+
"std": [
|
| 60 |
+
0.2475089430809021
|
| 61 |
+
],
|
| 62 |
+
"q01": [
|
| 63 |
+
0.006137421354651451
|
| 64 |
+
],
|
| 65 |
+
"q99": [
|
| 66 |
+
0.9217026126384735
|
| 67 |
+
]
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"action": {
|
| 71 |
+
"single_arm": {
|
| 72 |
+
"max": [
|
| 73 |
+
0.741093635559082,
|
| 74 |
+
0.5953298807144165,
|
| 75 |
+
1.6279510259628296,
|
| 76 |
+
1.6003326177597046,
|
| 77 |
+
0.06290856748819351
|
| 78 |
+
],
|
| 79 |
+
"min": [
|
| 80 |
+
-0.741093635559082,
|
| 81 |
+
-1.8780510425567627,
|
| 82 |
+
-0.5554366707801819,
|
| 83 |
+
-1.1032015085220337,
|
| 84 |
+
-2.12508225440979
|
| 85 |
+
],
|
| 86 |
+
"mean": [
|
| 87 |
+
0.06122366711497307,
|
| 88 |
+
-0.9115849137306213,
|
| 89 |
+
0.9640885591506958,
|
| 90 |
+
0.7144355177879333,
|
| 91 |
+
-1.5393561124801636
|
| 92 |
+
],
|
| 93 |
+
"std": [
|
| 94 |
+
0.35077351331710815,
|
| 95 |
+
0.7666987180709839,
|
| 96 |
+
0.5521473288536072,
|
| 97 |
+
0.5145319104194641,
|
| 98 |
+
0.13183332979679108
|
| 99 |
+
],
|
| 100 |
+
"q01": [
|
| 101 |
+
-0.6347781735658645,
|
| 102 |
+
-1.874982237815857,
|
| 103 |
+
-0.4076475277543068,
|
| 104 |
+
-0.5703352582454682,
|
| 105 |
+
-1.779852271080017
|
| 106 |
+
],
|
| 107 |
+
"q99": [
|
| 108 |
+
0.5339556932449341,
|
| 109 |
+
0.5104953962564469,
|
| 110 |
+
1.6049357652664185,
|
| 111 |
+
1.412895840406418,
|
| 112 |
+
-1.2717811787128446
|
| 113 |
+
]
|
| 114 |
+
},
|
| 115 |
+
"gripper": {
|
| 116 |
+
"max": [
|
| 117 |
+
1.1246825456619263
|
| 118 |
+
],
|
| 119 |
+
"min": [
|
| 120 |
+
-0.026084041222929955
|
| 121 |
+
],
|
| 122 |
+
"mean": [
|
| 123 |
+
0.22775891423225403
|
| 124 |
+
],
|
| 125 |
+
"std": [
|
| 126 |
+
0.2665541470050812
|
| 127 |
+
],
|
| 128 |
+
"q01": [
|
| 129 |
+
-0.010740487836301327
|
| 130 |
+
],
|
| 131 |
+
"q99": [
|
| 132 |
+
0.9495204681158068
|
| 133 |
+
]
|
| 134 |
+
}
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"modalities": {
|
| 138 |
+
"video": {
|
| 139 |
+
"gripper_cam": {
|
| 140 |
+
"resolution": [
|
| 141 |
+
1920,
|
| 142 |
+
1080
|
| 143 |
+
],
|
| 144 |
+
"channels": 3,
|
| 145 |
+
"fps": 60.0
|
| 146 |
+
},
|
| 147 |
+
"front_cam": {
|
| 148 |
+
"resolution": [
|
| 149 |
+
1920,
|
| 150 |
+
1080
|
| 151 |
+
],
|
| 152 |
+
"channels": 3,
|
| 153 |
+
"fps": 60.0
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"state": {
|
| 157 |
+
"single_arm": {
|
| 158 |
+
"absolute": true,
|
| 159 |
+
"rotation_type": null,
|
| 160 |
+
"shape": [
|
| 161 |
+
5
|
| 162 |
+
],
|
| 163 |
+
"continuous": true
|
| 164 |
+
},
|
| 165 |
+
"gripper": {
|
| 166 |
+
"absolute": true,
|
| 167 |
+
"rotation_type": null,
|
| 168 |
+
"shape": [
|
| 169 |
+
1
|
| 170 |
+
],
|
| 171 |
+
"continuous": true
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"action": {
|
| 175 |
+
"single_arm": {
|
| 176 |
+
"absolute": true,
|
| 177 |
+
"rotation_type": null,
|
| 178 |
+
"shape": [
|
| 179 |
+
5
|
| 180 |
+
],
|
| 181 |
+
"continuous": true
|
| 182 |
+
},
|
| 183 |
+
"gripper": {
|
| 184 |
+
"absolute": true,
|
| 185 |
+
"rotation_type": null,
|
| 186 |
+
"shape": [
|
| 187 |
+
1
|
| 188 |
+
],
|
| 189 |
+
"continuous": true
|
| 190 |
+
}
|
| 191 |
+
}
|
| 192 |
+
},
|
| 193 |
+
"embodiment_tag": "new_embodiment"
|
| 194 |
+
}
|
| 195 |
+
}
|
checkpoint-8000/model-00001-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5e54790eb5133235e6802df06052ae8d1a6fc0c5f6cdfc6ec71b3137530ffa9e
|
| 3 |
+
size 4999367032
|
checkpoint-8000/model-00002-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:49ef7d13dfd6761e5874215360409a676c7a472ef6c6de587a58c0f17820977e
|
| 3 |
+
size 2586705312
|
checkpoint-8000/model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
checkpoint-8000/rng_state_0.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:02cdc1caa88925c4f843fc663cd7113cbf7aa63c75a1cd4ac5b5a58448585d59
|
| 3 |
+
size 14512
|
checkpoint-8000/rng_state_1.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:84a43e3f2fe28ceb41f8072461ed7ff9bed54e8e03b22a2ac98bd981f4d3705c
|
| 3 |
+
size 14512
|
checkpoint-8000/scheduler.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:00739e77892b3b90e07da5aa63424b8c4adff832abcfc91f97c4f8838af650db
|
| 3 |
+
size 1064
|
checkpoint-8000/trainer_state.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
checkpoint-9000/config.json
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 32,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"action_dim": 32,
|
| 5 |
+
"action_horizon": 16,
|
| 6 |
+
"add_pos_embed": true,
|
| 7 |
+
"backbone_embedding_dim": 2048,
|
| 8 |
+
"diffusion_model_cfg": {
|
| 9 |
+
"attention_head_dim": 48,
|
| 10 |
+
"cross_attention_dim": 2048,
|
| 11 |
+
"dropout": 0.2,
|
| 12 |
+
"final_dropout": true,
|
| 13 |
+
"interleave_self_attention": true,
|
| 14 |
+
"norm_type": "ada_norm",
|
| 15 |
+
"num_attention_heads": 32,
|
| 16 |
+
"num_layers": 16,
|
| 17 |
+
"output_dim": 1024,
|
| 18 |
+
"positional_embeddings": null
|
| 19 |
+
},
|
| 20 |
+
"hidden_size": 1024,
|
| 21 |
+
"input_embedding_dim": 1536,
|
| 22 |
+
"max_action_dim": 32,
|
| 23 |
+
"max_state_dim": 64,
|
| 24 |
+
"model_dtype": "float32",
|
| 25 |
+
"noise_beta_alpha": 1.5,
|
| 26 |
+
"noise_beta_beta": 1.0,
|
| 27 |
+
"noise_s": 0.999,
|
| 28 |
+
"num_inference_timesteps": 4,
|
| 29 |
+
"num_target_vision_tokens": 32,
|
| 30 |
+
"num_timestep_buckets": 1000,
|
| 31 |
+
"tune_diffusion_model": true,
|
| 32 |
+
"tune_projector": true,
|
| 33 |
+
"use_vlln": true,
|
| 34 |
+
"vl_self_attention_cfg": {
|
| 35 |
+
"attention_head_dim": 64,
|
| 36 |
+
"dropout": 0.2,
|
| 37 |
+
"final_dropout": true,
|
| 38 |
+
"num_attention_heads": 32,
|
| 39 |
+
"num_layers": 4,
|
| 40 |
+
"positional_embeddings": null
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"action_horizon": 16,
|
| 44 |
+
"architectures": [
|
| 45 |
+
"GR00T_N1_5"
|
| 46 |
+
],
|
| 47 |
+
"attn_implementation": null,
|
| 48 |
+
"backbone_cfg": {
|
| 49 |
+
"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
|
| 50 |
+
"load_bf16": false,
|
| 51 |
+
"project_to_dim": null,
|
| 52 |
+
"reproject_vision": false,
|
| 53 |
+
"select_layer": 12,
|
| 54 |
+
"tune_llm": false,
|
| 55 |
+
"tune_visual": true,
|
| 56 |
+
"use_flash_attention": true
|
| 57 |
+
},
|
| 58 |
+
"compute_dtype": "bfloat16",
|
| 59 |
+
"hidden_size": 2048,
|
| 60 |
+
"model_dtype": "float32",
|
| 61 |
+
"model_type": "gr00t_n1_5",
|
| 62 |
+
"torch_dtype": "bfloat16",
|
| 63 |
+
"transformers_version": "4.51.3"
|
| 64 |
+
}
|
checkpoint-9000/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,195 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"new_embodiment": {
|
| 3 |
+
"statistics": {
|
| 4 |
+
"state": {
|
| 5 |
+
"single_arm": {
|
| 6 |
+
"max": [
|
| 7 |
+
0.7119408845901489,
|
| 8 |
+
0.6336884498596191,
|
| 9 |
+
1.6356228590011597,
|
| 10 |
+
1.612607479095459,
|
| 11 |
+
0.05677114799618721
|
| 12 |
+
],
|
| 13 |
+
"min": [
|
| 14 |
+
-0.6996660828590393,
|
| 15 |
+
-1.807470679283142,
|
| 16 |
+
-0.421947717666626,
|
| 17 |
+
-1.0464303493499756,
|
| 18 |
+
-2.122013568878174
|
| 19 |
+
],
|
| 20 |
+
"mean": [
|
| 21 |
+
0.055539075285196304,
|
| 22 |
+
-0.846017599105835,
|
| 23 |
+
1.0085504055023193,
|
| 24 |
+
0.7250792384147644,
|
| 25 |
+
-1.54018235206604
|
| 26 |
+
],
|
| 27 |
+
"std": [
|
| 28 |
+
0.342788428068161,
|
| 29 |
+
0.7538483142852783,
|
| 30 |
+
0.4811265468597412,
|
| 31 |
+
0.5023943781852722,
|
| 32 |
+
0.13101021945476532
|
| 33 |
+
],
|
| 34 |
+
"q01": [
|
| 35 |
+
-0.6413605809211731,
|
| 36 |
+
-1.778317928314209,
|
| 37 |
+
-0.2680672299861908,
|
| 38 |
+
-0.5278182625770569,
|
| 39 |
+
-1.7804966950416565
|
| 40 |
+
],
|
| 41 |
+
"q99": [
|
| 42 |
+
0.5124747157096863,
|
| 43 |
+
0.55697101354599,
|
| 44 |
+
1.5308417570590973,
|
| 45 |
+
1.4034902346134186,
|
| 46 |
+
-1.2842555046081543
|
| 47 |
+
]
|
| 48 |
+
},
|
| 49 |
+
"gripper": {
|
| 50 |
+
"max": [
|
| 51 |
+
1.11394202709198
|
| 52 |
+
],
|
| 53 |
+
"min": [
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
"mean": [
|
| 57 |
+
0.2416374385356903
|
| 58 |
+
],
|
| 59 |
+
"std": [
|
| 60 |
+
0.2475089430809021
|
| 61 |
+
],
|
| 62 |
+
"q01": [
|
| 63 |
+
0.006137421354651451
|
| 64 |
+
],
|
| 65 |
+
"q99": [
|
| 66 |
+
0.9217026126384735
|
| 67 |
+
]
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"action": {
|
| 71 |
+
"single_arm": {
|
| 72 |
+
"max": [
|
| 73 |
+
0.741093635559082,
|
| 74 |
+
0.5953298807144165,
|
| 75 |
+
1.6279510259628296,
|
| 76 |
+
1.6003326177597046,
|
| 77 |
+
0.06290856748819351
|
| 78 |
+
],
|
| 79 |
+
"min": [
|
| 80 |
+
-0.741093635559082,
|
| 81 |
+
-1.8780510425567627,
|
| 82 |
+
-0.5554366707801819,
|
| 83 |
+
-1.1032015085220337,
|
| 84 |
+
-2.12508225440979
|
| 85 |
+
],
|
| 86 |
+
"mean": [
|
| 87 |
+
0.06122366711497307,
|
| 88 |
+
-0.9115849137306213,
|
| 89 |
+
0.9640885591506958,
|
| 90 |
+
0.7144355177879333,
|
| 91 |
+
-1.5393561124801636
|
| 92 |
+
],
|
| 93 |
+
"std": [
|
| 94 |
+
0.35077351331710815,
|
| 95 |
+
0.7666987180709839,
|
| 96 |
+
0.5521473288536072,
|
| 97 |
+
0.5145319104194641,
|
| 98 |
+
0.13183332979679108
|
| 99 |
+
],
|
| 100 |
+
"q01": [
|
| 101 |
+
-0.6347781735658645,
|
| 102 |
+
-1.874982237815857,
|
| 103 |
+
-0.4076475277543068,
|
| 104 |
+
-0.5703352582454682,
|
| 105 |
+
-1.779852271080017
|
| 106 |
+
],
|
| 107 |
+
"q99": [
|
| 108 |
+
0.5339556932449341,
|
| 109 |
+
0.5104953962564469,
|
| 110 |
+
1.6049357652664185,
|
| 111 |
+
1.412895840406418,
|
| 112 |
+
-1.2717811787128446
|
| 113 |
+
]
|
| 114 |
+
},
|
| 115 |
+
"gripper": {
|
| 116 |
+
"max": [
|
| 117 |
+
1.1246825456619263
|
| 118 |
+
],
|
| 119 |
+
"min": [
|
| 120 |
+
-0.026084041222929955
|
| 121 |
+
],
|
| 122 |
+
"mean": [
|
| 123 |
+
0.22775891423225403
|
| 124 |
+
],
|
| 125 |
+
"std": [
|
| 126 |
+
0.2665541470050812
|
| 127 |
+
],
|
| 128 |
+
"q01": [
|
| 129 |
+
-0.010740487836301327
|
| 130 |
+
],
|
| 131 |
+
"q99": [
|
| 132 |
+
0.9495204681158068
|
| 133 |
+
]
|
| 134 |
+
}
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"modalities": {
|
| 138 |
+
"video": {
|
| 139 |
+
"gripper_cam": {
|
| 140 |
+
"resolution": [
|
| 141 |
+
1920,
|
| 142 |
+
1080
|
| 143 |
+
],
|
| 144 |
+
"channels": 3,
|
| 145 |
+
"fps": 60.0
|
| 146 |
+
},
|
| 147 |
+
"front_cam": {
|
| 148 |
+
"resolution": [
|
| 149 |
+
1920,
|
| 150 |
+
1080
|
| 151 |
+
],
|
| 152 |
+
"channels": 3,
|
| 153 |
+
"fps": 60.0
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"state": {
|
| 157 |
+
"single_arm": {
|
| 158 |
+
"absolute": true,
|
| 159 |
+
"rotation_type": null,
|
| 160 |
+
"shape": [
|
| 161 |
+
5
|
| 162 |
+
],
|
| 163 |
+
"continuous": true
|
| 164 |
+
},
|
| 165 |
+
"gripper": {
|
| 166 |
+
"absolute": true,
|
| 167 |
+
"rotation_type": null,
|
| 168 |
+
"shape": [
|
| 169 |
+
1
|
| 170 |
+
],
|
| 171 |
+
"continuous": true
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"action": {
|
| 175 |
+
"single_arm": {
|
| 176 |
+
"absolute": true,
|
| 177 |
+
"rotation_type": null,
|
| 178 |
+
"shape": [
|
| 179 |
+
5
|
| 180 |
+
],
|
| 181 |
+
"continuous": true
|
| 182 |
+
},
|
| 183 |
+
"gripper": {
|
| 184 |
+
"absolute": true,
|
| 185 |
+
"rotation_type": null,
|
| 186 |
+
"shape": [
|
| 187 |
+
1
|
| 188 |
+
],
|
| 189 |
+
"continuous": true
|
| 190 |
+
}
|
| 191 |
+
}
|
| 192 |
+
},
|
| 193 |
+
"embodiment_tag": "new_embodiment"
|
| 194 |
+
}
|
| 195 |
+
}
|
checkpoint-9000/model-00002-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f4a5b9398f52cb2707cf50b5c58baf0c74de9982df8bf7b547deb4d22f2dc3d2
|
| 3 |
+
size 2586705312
|
checkpoint-9000/model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
checkpoint-9000/rng_state_0.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2ff3cf2ed85d85ae7005dd6eabb0ebd9f9dd3f24983969131419b1cbafc46dc3
|
| 3 |
+
size 14512
|
checkpoint-9000/rng_state_1.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:282b9525f2b46aef1bf8b490b28bd546aa324badcd408509da29c81f05da2dd4
|
| 3 |
+
size 14512
|
checkpoint-9000/scheduler.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1c26823aa5685497db4fe82a648513d12cb6c26d9be110887b197c10fe3a44ac
|
| 3 |
+
size 1064
|
checkpoint-9000/trainer_state.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
config.json
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 32,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"action_dim": 32,
|
| 5 |
+
"action_horizon": 16,
|
| 6 |
+
"add_pos_embed": true,
|
| 7 |
+
"backbone_embedding_dim": 2048,
|
| 8 |
+
"diffusion_model_cfg": {
|
| 9 |
+
"attention_head_dim": 48,
|
| 10 |
+
"cross_attention_dim": 2048,
|
| 11 |
+
"dropout": 0.2,
|
| 12 |
+
"final_dropout": true,
|
| 13 |
+
"interleave_self_attention": true,
|
| 14 |
+
"norm_type": "ada_norm",
|
| 15 |
+
"num_attention_heads": 32,
|
| 16 |
+
"num_layers": 16,
|
| 17 |
+
"output_dim": 1024,
|
| 18 |
+
"positional_embeddings": null
|
| 19 |
+
},
|
| 20 |
+
"hidden_size": 1024,
|
| 21 |
+
"input_embedding_dim": 1536,
|
| 22 |
+
"max_action_dim": 32,
|
| 23 |
+
"max_state_dim": 64,
|
| 24 |
+
"model_dtype": "float32",
|
| 25 |
+
"noise_beta_alpha": 1.5,
|
| 26 |
+
"noise_beta_beta": 1.0,
|
| 27 |
+
"noise_s": 0.999,
|
| 28 |
+
"num_inference_timesteps": 4,
|
| 29 |
+
"num_target_vision_tokens": 32,
|
| 30 |
+
"num_timestep_buckets": 1000,
|
| 31 |
+
"tune_diffusion_model": true,
|
| 32 |
+
"tune_projector": true,
|
| 33 |
+
"use_vlln": true,
|
| 34 |
+
"vl_self_attention_cfg": {
|
| 35 |
+
"attention_head_dim": 64,
|
| 36 |
+
"dropout": 0.2,
|
| 37 |
+
"final_dropout": true,
|
| 38 |
+
"num_attention_heads": 32,
|
| 39 |
+
"num_layers": 4,
|
| 40 |
+
"positional_embeddings": null
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"action_horizon": 16,
|
| 44 |
+
"architectures": [
|
| 45 |
+
"GR00T_N1_5"
|
| 46 |
+
],
|
| 47 |
+
"attn_implementation": null,
|
| 48 |
+
"backbone_cfg": {
|
| 49 |
+
"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
|
| 50 |
+
"load_bf16": false,
|
| 51 |
+
"project_to_dim": null,
|
| 52 |
+
"reproject_vision": false,
|
| 53 |
+
"select_layer": 12,
|
| 54 |
+
"tune_llm": false,
|
| 55 |
+
"tune_visual": true,
|
| 56 |
+
"use_flash_attention": true
|
| 57 |
+
},
|
| 58 |
+
"compute_dtype": "bfloat16",
|
| 59 |
+
"hidden_size": 2048,
|
| 60 |
+
"model_dtype": "float32",
|
| 61 |
+
"model_type": "gr00t_n1_5",
|
| 62 |
+
"torch_dtype": "bfloat16",
|
| 63 |
+
"transformers_version": "4.51.3"
|
| 64 |
+
}
|
experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,195 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"new_embodiment": {
|
| 3 |
+
"statistics": {
|
| 4 |
+
"state": {
|
| 5 |
+
"single_arm": {
|
| 6 |
+
"max": [
|
| 7 |
+
0.7119408845901489,
|
| 8 |
+
0.6336884498596191,
|
| 9 |
+
1.6356228590011597,
|
| 10 |
+
1.612607479095459,
|
| 11 |
+
0.05677114799618721
|
| 12 |
+
],
|
| 13 |
+
"min": [
|
| 14 |
+
-0.6996660828590393,
|
| 15 |
+
-1.807470679283142,
|
| 16 |
+
-0.421947717666626,
|
| 17 |
+
-1.0464303493499756,
|
| 18 |
+
-2.122013568878174
|
| 19 |
+
],
|
| 20 |
+
"mean": [
|
| 21 |
+
0.055539075285196304,
|
| 22 |
+
-0.846017599105835,
|
| 23 |
+
1.0085504055023193,
|
| 24 |
+
0.7250792384147644,
|
| 25 |
+
-1.54018235206604
|
| 26 |
+
],
|
| 27 |
+
"std": [
|
| 28 |
+
0.342788428068161,
|
| 29 |
+
0.7538483142852783,
|
| 30 |
+
0.4811265468597412,
|
| 31 |
+
0.5023943781852722,
|
| 32 |
+
0.13101021945476532
|
| 33 |
+
],
|
| 34 |
+
"q01": [
|
| 35 |
+
-0.6413605809211731,
|
| 36 |
+
-1.778317928314209,
|
| 37 |
+
-0.2680672299861908,
|
| 38 |
+
-0.5278182625770569,
|
| 39 |
+
-1.7804966950416565
|
| 40 |
+
],
|
| 41 |
+
"q99": [
|
| 42 |
+
0.5124747157096863,
|
| 43 |
+
0.55697101354599,
|
| 44 |
+
1.5308417570590973,
|
| 45 |
+
1.4034902346134186,
|
| 46 |
+
-1.2842555046081543
|
| 47 |
+
]
|
| 48 |
+
},
|
| 49 |
+
"gripper": {
|
| 50 |
+
"max": [
|
| 51 |
+
1.11394202709198
|
| 52 |
+
],
|
| 53 |
+
"min": [
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
"mean": [
|
| 57 |
+
0.2416374385356903
|
| 58 |
+
],
|
| 59 |
+
"std": [
|
| 60 |
+
0.2475089430809021
|
| 61 |
+
],
|
| 62 |
+
"q01": [
|
| 63 |
+
0.006137421354651451
|
| 64 |
+
],
|
| 65 |
+
"q99": [
|
| 66 |
+
0.9217026126384735
|
| 67 |
+
]
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"action": {
|
| 71 |
+
"single_arm": {
|
| 72 |
+
"max": [
|
| 73 |
+
0.741093635559082,
|
| 74 |
+
0.5953298807144165,
|
| 75 |
+
1.6279510259628296,
|
| 76 |
+
1.6003326177597046,
|
| 77 |
+
0.06290856748819351
|
| 78 |
+
],
|
| 79 |
+
"min": [
|
| 80 |
+
-0.741093635559082,
|
| 81 |
+
-1.8780510425567627,
|
| 82 |
+
-0.5554366707801819,
|
| 83 |
+
-1.1032015085220337,
|
| 84 |
+
-2.12508225440979
|
| 85 |
+
],
|
| 86 |
+
"mean": [
|
| 87 |
+
0.06122366711497307,
|
| 88 |
+
-0.9115849137306213,
|
| 89 |
+
0.9640885591506958,
|
| 90 |
+
0.7144355177879333,
|
| 91 |
+
-1.5393561124801636
|
| 92 |
+
],
|
| 93 |
+
"std": [
|
| 94 |
+
0.35077351331710815,
|
| 95 |
+
0.7666987180709839,
|
| 96 |
+
0.5521473288536072,
|
| 97 |
+
0.5145319104194641,
|
| 98 |
+
0.13183332979679108
|
| 99 |
+
],
|
| 100 |
+
"q01": [
|
| 101 |
+
-0.6347781735658645,
|
| 102 |
+
-1.874982237815857,
|
| 103 |
+
-0.4076475277543068,
|
| 104 |
+
-0.5703352582454682,
|
| 105 |
+
-1.779852271080017
|
| 106 |
+
],
|
| 107 |
+
"q99": [
|
| 108 |
+
0.5339556932449341,
|
| 109 |
+
0.5104953962564469,
|
| 110 |
+
1.6049357652664185,
|
| 111 |
+
1.412895840406418,
|
| 112 |
+
-1.2717811787128446
|
| 113 |
+
]
|
| 114 |
+
},
|
| 115 |
+
"gripper": {
|
| 116 |
+
"max": [
|
| 117 |
+
1.1246825456619263
|
| 118 |
+
],
|
| 119 |
+
"min": [
|
| 120 |
+
-0.026084041222929955
|
| 121 |
+
],
|
| 122 |
+
"mean": [
|
| 123 |
+
0.22775891423225403
|
| 124 |
+
],
|
| 125 |
+
"std": [
|
| 126 |
+
0.2665541470050812
|
| 127 |
+
],
|
| 128 |
+
"q01": [
|
| 129 |
+
-0.010740487836301327
|
| 130 |
+
],
|
| 131 |
+
"q99": [
|
| 132 |
+
0.9495204681158068
|
| 133 |
+
]
|
| 134 |
+
}
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"modalities": {
|
| 138 |
+
"video": {
|
| 139 |
+
"gripper_cam": {
|
| 140 |
+
"resolution": [
|
| 141 |
+
1920,
|
| 142 |
+
1080
|
| 143 |
+
],
|
| 144 |
+
"channels": 3,
|
| 145 |
+
"fps": 60.0
|
| 146 |
+
},
|
| 147 |
+
"front_cam": {
|
| 148 |
+
"resolution": [
|
| 149 |
+
1920,
|
| 150 |
+
1080
|
| 151 |
+
],
|
| 152 |
+
"channels": 3,
|
| 153 |
+
"fps": 60.0
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"state": {
|
| 157 |
+
"single_arm": {
|
| 158 |
+
"absolute": true,
|
| 159 |
+
"rotation_type": null,
|
| 160 |
+
"shape": [
|
| 161 |
+
5
|
| 162 |
+
],
|
| 163 |
+
"continuous": true
|
| 164 |
+
},
|
| 165 |
+
"gripper": {
|
| 166 |
+
"absolute": true,
|
| 167 |
+
"rotation_type": null,
|
| 168 |
+
"shape": [
|
| 169 |
+
1
|
| 170 |
+
],
|
| 171 |
+
"continuous": true
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"action": {
|
| 175 |
+
"single_arm": {
|
| 176 |
+
"absolute": true,
|
| 177 |
+
"rotation_type": null,
|
| 178 |
+
"shape": [
|
| 179 |
+
5
|
| 180 |
+
],
|
| 181 |
+
"continuous": true
|
| 182 |
+
},
|
| 183 |
+
"gripper": {
|
| 184 |
+
"absolute": true,
|
| 185 |
+
"rotation_type": null,
|
| 186 |
+
"shape": [
|
| 187 |
+
1
|
| 188 |
+
],
|
| 189 |
+
"continuous": true
|
| 190 |
+
}
|
| 191 |
+
}
|
| 192 |
+
},
|
| 193 |
+
"embodiment_tag": "new_embodiment"
|
| 194 |
+
}
|
| 195 |
+
}
|
model-00001-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7f06e363badeb2542664108c5ecba102df705e3ce75b791736e5db013a9afb23
|
| 3 |
+
size 4999367032
|
model-00002-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3cfd89c37720b9e1ab09bac2f16634a8b4b6e9786f5f6d39e16d222a0945bc4d
|
| 3 |
+
size 2586705312
|
model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
trainer_state.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
training_args.bin
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bb0e17bf33284019940c3c1034c5119bf667a95ec3b60688fa01d2912f414557
|
| 3 |
+
size 5368
|