Hugging Face's logo

Dongkkka
/
pick_brush_test

Safetensors
gr00t_n1_5
Model card Files
xet
 Community
Dongkkka commited on
Commit
3546ad0
·
verified ·
1 Parent(s): 546915a

Upload folder using huggingface_hub

Browse files
Files changed (6) hide show
  1. config.json +64 -0
  2. experiment_cfg/metadata.json +307 -0
  3. model-00001-of-00002.safetensors +3 -0
  4. model-00002-of-00002.safetensors +3 -0
  5. model.safetensors.index.json +0 -0
  6. trainer_state.json +0 -0
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 +1,307 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "new_embodiment": {
3
+ "statistics": {
4
+ "state": {
5
+ "left_arm": {
6
+ "max": [
7
+ 0.45193710923194885,
8
+ 0.32812806963920593,
9
+ 0.08396147936582565,
10
+ -0.9136413335800171,
11
+ 0.8335387706756592,
12
+ 0.9546154141426086,
13
+ 0.16423159837722778,
14
+ 1.0499905347824097
15
+ ],
16
+ "min": [
17
+ -0.7913303375244141,
18
+ -4.793690095539205e-05,
19
+ -0.6868398785591125,
20
+ -2.0709939002990723,
21
+ -0.1531464159488678,
22
+ -0.6437206268310547,
23
+ -1.3207306861877441,
24
+ 0.0
25
+ ],
26
+ "mean": [
27
+ -0.2777152359485626,
28
+ 0.11083304136991501,
29
+ -0.27548518776893616,
30
+ -1.5663437843322754,
31
+ 0.2607644498348236,
32
+ 0.1529361754655838,
33
+ -0.5974355936050415,
34
+ 0.4723747670650482
35
+ ],
36
+ "std": [
37
+ 0.3358229398727417,
38
+ 0.057121746242046356,
39
+ 0.14897024631500244,
40
+ 0.19034436345100403,
41
+ 0.1593480259180069,
42
+ 0.29297417402267456,
43
+ 0.28435876965522766,
44
+ 0.4364473521709442
45
+ ],
46
+ "q01": [
47
+ -0.7530197632312775,
48
+ 0.00010821755109645894,
49
+ -0.5931258893013001,
50
+ -1.9691472995281218,
51
+ -0.05612212419509888,
52
+ -0.48818436563014983,
53
+ -1.1853520858287812,
54
+ 0.014851351268589497
55
+ ],
56
+ "q99": [
57
+ 0.3634304800629622,
58
+ 0.2836971592903139,
59
+ 0.04198038015514614,
60
+ -1.0760807728767388,
61
+ 0.63365441441536,
62
+ 0.799551187157631,
63
+ 0.013959634182975213,
64
+ 1.0470203161239624
65
+ ]
66
+ },
67
+ "right_arm": {
68
+ "max": [
69
+ 0.45391449332237244,
70
+ -0.141066312789917,
71
+ 0.3852328956127167,
72
+ -1.4848095178604126,
73
+ -0.0011385013349354267,
74
+ -0.03368765488266945,
75
+ -0.006557266693562269,
76
+ 0.15593919157981873
77
+ ],
78
+ "min": [
79
+ 0.1985786110162735,
80
+ -0.2880168855190277,
81
+ 0.15809589624404907,
82
+ -1.787686824798584,
83
+ -0.3145020008087158,
84
+ -0.49642255902290344,
85
+ -0.3684066832065582,
86
+ 0.06386081129312515
87
+ ],
88
+ "mean": [
89
+ 0.300589919090271,
90
+ -0.19601669907569885,
91
+ 0.25624915957450867,
92
+ -1.581394910812378,
93
+ -0.19257739186286926,
94
+ -0.3201666474342346,
95
+ -0.16025857627391815,
96
+ 0.1012110486626625
97
+ ],
98
+ "std": [
99
+ 0.039325714111328125,
100
+ 0.03191402181982994,
101
+ 0.04143237695097923,
102
+ 0.06264502555131912,
103
+ 0.06856068223714828,
104
+ 0.09831992536783218,
105
+ 0.09450233727693558,
106
+ 0.016878800466656685
107
+ ],
108
+ "q01": [
109
+ 0.2242978273332119,
110
+ -0.261662837266922,
111
+ 0.18329429134726524,
112
+ -1.7533639669418335,
113
+ -0.30167098611593246,
114
+ -0.4453661552071571,
115
+ -0.33442028135061264,
116
+ 0.07277162373065948
117
+ ],
118
+ "q99": [
119
+ 0.38961806267499927,
120
+ -0.1442061811685562,
121
+ 0.35926273286342625,
122
+ -1.4945792067050934,
123
+ -0.03382056031376119,
124
+ -0.053522266522049874,
125
+ -0.03205200284719467,
126
+ 0.14999864995479584
127
+ ]
128
+ }
129
+ },
130
+ "action": {
131
+ "left_arm": {
132
+ "max": [
133
+ 0.4527454078197479,
134
+ 0.32843226194381714,
135
+ 0.08901435136795044,
136
+ -0.9127185940742493,
137
+ 0.8456363081932068,
138
+ 0.9546021819114685,
139
+ 0.16268140077590942,
140
+ 1.2223727703094482
141
+ ],
142
+ "min": [
143
+ -0.7915340662002563,
144
+ -0.01840776950120926,
145
+ -0.6902913451194763,
146
+ -2.070873975753784,
147
+ -0.15493206679821014,
148
+ -0.6519418358802795,
149
+ -1.320757508277893,
150
+ -0.08809714019298553
151
+ ],
152
+ "mean": [
153
+ -0.2767506539821625,
154
+ 0.11012766510248184,
155
+ -0.27441567182540894,
156
+ -1.5659593343734741,
157
+ 0.26054561138153076,
158
+ 0.15176592767238617,
159
+ -0.5974586606025696,
160
+ 0.48842281103134155
161
+ ],
162
+ "std": [
163
+ 0.33777427673339844,
164
+ 0.05822489410638809,
165
+ 0.15054012835025787,
166
+ 0.1909746676683426,
167
+ 0.1599203646183014,
168
+ 0.2957443296909332,
169
+ 0.28447073698043823,
170
+ 0.4671369791030884
171
+ ],
172
+ "q01": [
173
+ -0.7531845569610596,
174
+ -0.004555922953877596,
175
+ -0.5921165943145752,
176
+ -1.969631314277649,
177
+ -0.05675728991627693,
178
+ -0.5016117095947266,
179
+ -1.1857671737670898,
180
+ 0.0054756891913712025
181
+ ],
182
+ "q99": [
183
+ 0.37293943762779236,
184
+ 0.2839250862598419,
185
+ 0.042972445487976074,
186
+ -1.0753204822540283,
187
+ 0.6353783011436462,
188
+ 0.7995944023132324,
189
+ 0.01381257176399231,
190
+ 1.1916782855987549
191
+ ]
192
+ },
193
+ "right_arm": {
194
+ "max": [
195
+ 0.45428013801574707,
196
+ -0.139592245221138,
197
+ 0.3852172791957855,
198
+ -1.4848934412002563,
199
+ -0.006135923322290182,
200
+ -0.03374757617712021,
201
+ -0.003067961661145091,
202
+ 0.1558058112859726
203
+ ],
204
+ "min": [
205
+ 0.19644546508789062,
206
+ -0.2883884012699127,
207
+ 0.158077210187912,
208
+ -1.7901555299758911,
209
+ -0.31446605920791626,
210
+ -0.49547579884529114,
211
+ -0.3681553900241852,
212
+ 0.06530094146728516
213
+ ],
214
+ "mean": [
215
+ 0.30056148767471313,
216
+ -0.19600564241409302,
217
+ 0.2562326192855835,
218
+ -1.5815529823303223,
219
+ -0.1926749050617218,
220
+ -0.3197735846042633,
221
+ -0.160202294588089,
222
+ 0.10182994604110718
223
+ ],
224
+ "std": [
225
+ 0.039295218884944916,
226
+ 0.031901273876428604,
227
+ 0.04143431410193443,
228
+ 0.06265421211719513,
229
+ 0.06848134100437164,
230
+ 0.09816358238458633,
231
+ 0.09456329792737961,
232
+ 0.01694015972316265
233
+ ],
234
+ "q01": [
235
+ 0.22407060861587524,
236
+ -0.2623107135295868,
237
+ 0.18416762351989746,
238
+ -1.7533400058746338,
239
+ -0.302194207906723,
240
+ -0.4448544383049011,
241
+ -0.3344078063964844,
242
+ 0.07297084480524063
243
+ ],
244
+ "q99": [
245
+ 0.38982146978378296,
246
+ -0.14419420063495636,
247
+ 0.35912686586380005,
248
+ -1.495631217956543,
249
+ -0.03374757617712021,
250
+ -0.05368932709097862,
251
+ -0.032213594764471054,
252
+ 0.14966988563537598
253
+ ]
254
+ }
255
+ }
256
+ },
257
+ "modalities": {
258
+ "video": {
259
+ "cam_head": {
260
+ "resolution": [
261
+ 672,
262
+ 376
263
+ ],
264
+ "channels": 3,
265
+ "fps": 30.0
266
+ }
267
+ },
268
+ "state": {
269
+ "left_arm": {
270
+ "absolute": true,
271
+ "rotation_type": null,
272
+ "shape": [
273
+ 8
274
+ ],
275
+ "continuous": true
276
+ },
277
+ "right_arm": {
278
+ "absolute": true,
279
+ "rotation_type": null,
280
+ "shape": [
281
+ 8
282
+ ],
283
+ "continuous": true
284
+ }
285
+ },
286
+ "action": {
287
+ "left_arm": {
288
+ "absolute": true,
289
+ "rotation_type": null,
290
+ "shape": [
291
+ 8
292
+ ],
293
+ "continuous": true
294
+ },
295
+ "right_arm": {
296
+ "absolute": true,
297
+ "rotation_type": null,
298
+ "shape": [
299
+ 8
300
+ ],
301
+ "continuous": true
302
+ }
303
+ }
304
+ },
305
+ "embodiment_tag": "new_embodiment"
306
+ }
307
+ }
model-00001-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eefa8b55bad1b57c674ee0a5b9bbb61048efabb4468c25c7336705199612c775
3
+ size 4999367032
model-00002-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:411b3df93aecafc314c1e836ea20e3d960539c0c66d32eda65b3013bf87c6711
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