Upload checkpoint-2000
Browse files- config.json +64 -0
- experiment_cfg/metadata.json +1419 -0
- model-00001-of-00002.safetensors +3 -0
- model-00002-of-00002.safetensors +3 -0
- model.safetensors.index.json +0 -0
config.json
ADDED
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{
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"action_dim": 32,
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"action_head_cfg": {
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"action_dim": 32,
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"action_horizon": 16,
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"add_pos_embed": true,
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"backbone_embedding_dim": 2048,
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"diffusion_model_cfg": {
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"attention_head_dim": 48,
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"cross_attention_dim": 2048,
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"dropout": 0.2,
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"final_dropout": true,
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"interleave_self_attention": true,
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"norm_type": "ada_norm",
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"num_attention_heads": 32,
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"num_layers": 16,
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"output_dim": 1024,
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"positional_embeddings": null
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},
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"hidden_size": 1024,
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"input_embedding_dim": 1536,
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"max_action_dim": 32,
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"max_state_dim": 64,
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"model_dtype": "float32",
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"noise_beta_alpha": 1.5,
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"noise_beta_beta": 1.0,
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"noise_s": 0.999,
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"num_inference_timesteps": 4,
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"num_target_vision_tokens": 32,
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"num_timestep_buckets": 1000,
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"tune_diffusion_model": true,
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"tune_projector": true,
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"use_vlln": true,
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"vl_self_attention_cfg": {
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"attention_head_dim": 64,
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"dropout": 0.2,
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"final_dropout": true,
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"num_attention_heads": 32,
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"num_layers": 4,
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"positional_embeddings": null
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}
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},
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"action_horizon": 16,
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"architectures": [
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"GR00T_N1_5"
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],
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"attn_implementation": null,
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"backbone_cfg": {
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"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
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"load_bf16": false,
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"project_to_dim": null,
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"reproject_vision": false,
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"select_layer": 12,
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"tune_llm": false,
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"tune_visual": true,
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"use_flash_attention": true
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},
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"compute_dtype": "bfloat16",
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"hidden_size": 2048,
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"model_dtype": "float32",
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"model_type": "gr00t_n1_5",
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"torch_dtype": "bfloat16",
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"transformers_version": "4.51.3"
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}
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experiment_cfg/metadata.json
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|
| 1 |
+
{
|
| 2 |
+
"new_embodiment": {
|
| 3 |
+
"statistics": {
|
| 4 |
+
"state": {
|
| 5 |
+
"end_effector_position_relative": {
|
| 6 |
+
"max": [
|
| 7 |
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|
| 8 |
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0.2273401336657931,
|
| 9 |
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0.9486233579348907
|
| 10 |
+
],
|
| 11 |
+
"min": [
|
| 12 |
+
-0.04604390816597592,
|
| 13 |
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-0.5535737211278331,
|
| 14 |
+
0.2268667182917934
|
| 15 |
+
],
|
| 16 |
+
"mean": [
|
| 17 |
+
0.31432350318858815,
|
| 18 |
+
-0.029593640635151065,
|
| 19 |
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0.5963641903223859
|
| 20 |
+
],
|
| 21 |
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"std": [
|
| 22 |
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0.1262070637764026,
|
| 23 |
+
0.10924628447216178,
|
| 24 |
+
0.19608173967401285
|
| 25 |
+
],
|
| 26 |
+
"q01": [
|
| 27 |
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0.05196514918041298,
|
| 28 |
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|
| 29 |
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0.23088334954029013
|
| 30 |
+
],
|
| 31 |
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"q99": [
|
| 32 |
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0.5868509963883627,
|
| 33 |
+
0.20515871563104038,
|
| 34 |
+
0.8608979550700577
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
"end_effector_rotation_relative": {
|
| 38 |
+
"max": [
|
| 39 |
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0.9999053478240967,
|
| 40 |
+
0.9928767085075378,
|
| 41 |
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0.994634747505188,
|
| 42 |
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0.6646260023117065,
|
| 43 |
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0.703220009803772,
|
| 44 |
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0.9858745336532593
|
| 45 |
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],
|
| 46 |
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"min": [
|
| 47 |
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|
| 48 |
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|
| 49 |
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-0.7248504757881165,
|
| 50 |
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-0.9623348712921143,
|
| 51 |
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-0.9999958872795105,
|
| 52 |
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-0.7556720972061157
|
| 53 |
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],
|
| 54 |
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"mean": [
|
| 55 |
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0.7756574749946594,
|
| 56 |
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|
| 57 |
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0.325264036655426,
|
| 58 |
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|
| 59 |
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-0.8797112703323364,
|
| 60 |
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-0.024674449115991592
|
| 61 |
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],
|
| 62 |
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"std": [
|
| 63 |
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0.21914157271385193,
|
| 64 |
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0.34765514731407166,
|
| 65 |
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0.26307767629623413,
|
| 66 |
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0.3252462148666382,
|
| 67 |
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0.19408833980560303,
|
| 68 |
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|
| 69 |
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],
|
| 70 |
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"q01": [
|
| 71 |
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