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- .gitattributes +460 -0
- README.md +57 -0
- assets/physical-intelligence/libero/norm_stats.json +556 -0
- fp16/model.onnx +3 -0
- fp16/model.onnx.data +3 -0
- fp32/model.onnx +3 -0
- fp32/model.onnx.data +3 -0
- int4/model.onnx +3 -0
- int4/model.onnx.data +3 -0
- int8/model.onnx +3 -0
- int8/model.onnx.data +3 -0
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.gitattributes
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*.zip filter=lfs diff=lfs merge=lfs -text
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*.zst filter=lfs diff=lfs merge=lfs -text
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*tfevents* filter=lfs diff=lfs merge=lfs -text
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| 33 |
*.zip filter=lfs diff=lfs merge=lfs -text
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| 34 |
*.zst filter=lfs diff=lfs merge=lfs -text
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*tfevents* filter=lfs diff=lfs merge=lfs -text
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+
fp16/model.onnx.data filter=lfs diff=lfs merge=lfs -text
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+
fp32/model.onnx.data filter=lfs diff=lfs merge=lfs -text
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int4/model.onnx.data filter=lfs diff=lfs merge=lfs -text
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int8/model.onnx.data filter=lfs diff=lfs merge=lfs -text
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model.action_in_proj.weight filter=lfs diff=lfs merge=lfs -text
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model.action_out_proj.weight filter=lfs diff=lfs merge=lfs -text
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model.paligemma_with_expert.gemma_expert.model.layers.0.input_layernorm.dense.weight filter=lfs diff=lfs merge=lfs -text
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| 43 |
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model.paligemma_with_expert.gemma_expert.model.layers.0.mlp.gate_proj.weight filter=lfs diff=lfs merge=lfs -text
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model.paligemma_with_expert.gemma_expert.model.layers.0.post_attention_layernorm.dense.weight filter=lfs diff=lfs merge=lfs -text
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| 47 |
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model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.3.self_attn.out_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 454 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.3.self_attn.q_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 455 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.3.self_attn.v_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 456 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.4.mlp.fc1.weight filter=lfs diff=lfs merge=lfs -text
|
| 457 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.4.mlp.fc2.weight filter=lfs diff=lfs merge=lfs -text
|
| 458 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.4.self_attn.k_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 459 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.4.self_attn.out_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 460 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.4.self_attn.q_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 461 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.4.self_attn.v_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 462 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.5.mlp.fc1.weight filter=lfs diff=lfs merge=lfs -text
|
| 463 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.5.mlp.fc2.weight filter=lfs diff=lfs merge=lfs -text
|
| 464 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.5.self_attn.k_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 465 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.5.self_attn.out_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 466 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.5.self_attn.q_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 467 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.5.self_attn.v_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 468 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.6.mlp.fc1.weight filter=lfs diff=lfs merge=lfs -text
|
| 469 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.6.mlp.fc2.weight filter=lfs diff=lfs merge=lfs -text
|
| 470 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.6.self_attn.k_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 471 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.6.self_attn.out_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 472 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.6.self_attn.q_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 473 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.6.self_attn.v_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 474 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.7.mlp.fc1.weight filter=lfs diff=lfs merge=lfs -text
|
| 475 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.7.mlp.fc2.weight filter=lfs diff=lfs merge=lfs -text
|
| 476 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.7.self_attn.k_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 477 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.7.self_attn.out_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 478 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.7.self_attn.q_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 479 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.7.self_attn.v_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 480 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.8.mlp.fc1.weight filter=lfs diff=lfs merge=lfs -text
|
| 481 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.8.mlp.fc2.weight filter=lfs diff=lfs merge=lfs -text
|
| 482 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.8.self_attn.k_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 483 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.8.self_attn.out_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 484 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.8.self_attn.q_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 485 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.8.self_attn.v_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 486 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.9.mlp.fc1.weight filter=lfs diff=lfs merge=lfs -text
|
| 487 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.9.mlp.fc2.weight filter=lfs diff=lfs merge=lfs -text
|
| 488 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.9.self_attn.k_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 489 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.9.self_attn.out_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 490 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.9.self_attn.q_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 491 |
+
model.paligemma_with_expert.paligemma.model.vision_tower.vision_model.encoder.layers.9.self_attn.v_proj.weight filter=lfs diff=lfs merge=lfs -text
|
| 492 |
+
model.time_mlp_in.weight filter=lfs diff=lfs merge=lfs -text
|
| 493 |
+
model.time_mlp_out.weight filter=lfs diff=lfs merge=lfs -text
|
| 494 |
+
nvfp4/model.onnx.data filter=lfs diff=lfs merge=lfs -text
|
| 495 |
+
nvfp8/model.onnx.data filter=lfs diff=lfs merge=lfs -text
|
README.md
ADDED
|
@@ -0,0 +1,57 @@
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| 1 |
+
---
|
| 2 |
+
license: mit
|
| 3 |
+
tags:
|
| 4 |
+
- onnx
|
| 5 |
+
- robotics
|
| 6 |
+
- openpi
|
| 7 |
+
- jetson-thor
|
| 8 |
+
- quantization
|
| 9 |
+
---
|
| 10 |
+
|
| 11 |
+
# OpenPi Pi0.5 Libero ONNX Exports for Jetson Thor
|
| 12 |
+
|
| 13 |
+
This repository contains ONNX exports of the OpenPi Pi0.5 Libero model, optimized for Nvidia Jetson Thor (Blackwell).
|
| 14 |
+
|
| 15 |
+
## Models Included
|
| 16 |
+
|
| 17 |
+
All models are exported with their external data files consolidated.
|
| 18 |
+
|
| 19 |
+
| Format | Path | Size | Description |
|
| 20 |
+
| :--- | :--- | :--- | :--- |
|
| 21 |
+
| **FP32** | `fp32/` | ~13GB | Full precision FP32 export. |
|
| 22 |
+
| **FP16** | `fp16/` | ~6.5GB | True Float32 -> Float16 converted model. Recommended for general GPU use. |
|
| 23 |
+
| **NVFP8**| `nvfp8/`| ~13GB | **NVIDIA FP8** Quantized (FakeQuant). Optimized for Blackwell Transformer Engine. |
|
| 24 |
+
| **NVFP4**| `nvfp4/`| ~13GB | **NVIDIA FP4** Quantized (FakeQuant). Optimized for Blackwell Transformer Engine. |
|
| 25 |
+
| **INT8** | `int8/` | ~13GB | Standard INT8 Quantized (FakeQuant). |
|
| 26 |
+
| **INT4** | `int4/` | ~13GB | INT4 Blockwise Quantized (FakeQuant). |
|
| 27 |
+
|
| 28 |
+
**Note**: The quantized models (INT8/4, NVFP8/4) are exported using `modelopt` and currently contain FakeQuant nodes with Float32 tensors (hence the ~13GB size). They are intended to be loaded into TensorRT which will fuse these nodes into actual low-precision kernels on supported hardware (Jetson Thor).
|
| 29 |
+
|
| 30 |
+
## Directory Structure
|
| 31 |
+
|
| 32 |
+
```
|
| 33 |
+
.
|
| 34 |
+
├── fp32/
|
| 35 |
+
│ ├── model.onnx
|
| 36 |
+
│ └── model.onnx.data
|
| 37 |
+
├── fp16/
|
| 38 |
+
│ ├── model.onnx
|
| 39 |
+
│ └── model.onnx.data
|
| 40 |
+
├── nvfp8/
|
| 41 |
+
│ ├── model.onnx
|
| 42 |
+
│ └── model.onnx.data
|
| 43 |
+
├── nvfp4/
|
| 44 |
+
│ ├── model.onnx
|
| 45 |
+
│ └── model.onnx.data
|
| 46 |
+
├── int8/
|
| 47 |
+
│ ├── model.onnx
|
| 48 |
+
│ └── model.onnx.data
|
| 49 |
+
└── int4/
|
| 50 |
+
├── model.onnx
|
| 51 |
+
└── model.onnx.data
|
| 52 |
+
```
|
| 53 |
+
|
| 54 |
+
## Usage
|
| 55 |
+
|
| 56 |
+
These models are designed to be consumed by **TensorRT** or **ONNX Runtime** with TensorRT Execution Provider on Nvidia Jetson Thor.
|
| 57 |
+
|
assets/physical-intelligence/libero/norm_stats.json
ADDED
|
@@ -0,0 +1,556 @@
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