Dongkkka commited on
Commit
feb2bd6
·
verified ·
1 Parent(s): 83a01c1

Upload folder using huggingface_hub

Browse files
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
+ 3.141592653589793,
8
+ 3.141592653589793,
9
+ 3.141592653589793,
10
+ 3.141592653589793,
11
+ 3.141592653589793,
12
+ 3.141592653589793,
13
+ 3.141592653589793,
14
+ 3.141592653589793
15
+ ],
16
+ "min": [
17
+ -3.141592653589793,
18
+ -3.141592653589793,
19
+ -3.141592653589793,
20
+ -3.141592653589793,
21
+ -3.141592653589793,
22
+ -3.141592653589793,
23
+ -3.141592653589793,
24
+ -3.141592653589793
25
+ ],
26
+ "mean": [
27
+ 0.0,
28
+ 0.0,
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0
35
+ ],
36
+ "std": [
37
+ 1.047197551196597,
38
+ 1.047197551196597,
39
+ 1.047197551196597,
40
+ 1.047197551196597,
41
+ 1.047197551196597,
42
+ 1.047197551196597,
43
+ 1.047197551196597,
44
+ 1.047197551196597
45
+ ],
46
+ "q01": [
47
+ -3.141592653589793,
48
+ -3.141592653589793,
49
+ -3.141592653589793,
50
+ -3.141592653589793,
51
+ -3.141592653589793,
52
+ -3.141592653589793,
53
+ -3.141592653589793,
54
+ -3.141592653589793
55
+ ],
56
+ "q99": [
57
+ 3.141592653589793,
58
+ 3.141592653589793,
59
+ 3.141592653589793,
60
+ 3.141592653589793,
61
+ 3.141592653589793,
62
+ 3.141592653589793,
63
+ 3.141592653589793,
64
+ 3.141592653589793
65
+ ]
66
+ },
67
+ "right_arm": {
68
+ "max": [
69
+ 3.141592653589793,
70
+ 3.141592653589793,
71
+ 3.141592653589793,
72
+ 3.141592653589793,
73
+ 3.141592653589793,
74
+ 3.141592653589793,
75
+ 3.141592653589793,
76
+ 3.141592653589793
77
+ ],
78
+ "min": [
79
+ -3.141592653589793,
80
+ -3.141592653589793,
81
+ -3.141592653589793,
82
+ -3.141592653589793,
83
+ -3.141592653589793,
84
+ -3.141592653589793,
85
+ -3.141592653589793,
86
+ -3.141592653589793
87
+ ],
88
+ "mean": [
89
+ 0.0,
90
+ 0.0,
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 0.0,
95
+ 0.0,
96
+ 0.0
97
+ ],
98
+ "std": [
99
+ 1.047197551196597,
100
+ 1.047197551196597,
101
+ 1.047197551196597,
102
+ 1.047197551196597,
103
+ 1.047197551196597,
104
+ 1.047197551196597,
105
+ 1.047197551196597,
106
+ 1.047197551196597
107
+ ],
108
+ "q01": [
109
+ -3.141592653589793,
110
+ -3.141592653589793,
111
+ -3.141592653589793,
112
+ -3.141592653589793,
113
+ -3.141592653589793,
114
+ -3.141592653589793,
115
+ -3.141592653589793,
116
+ -3.141592653589793
117
+ ],
118
+ "q99": [
119
+ 3.141592653589793,
120
+ 3.141592653589793,
121
+ 3.141592653589793,
122
+ 3.141592653589793,
123
+ 3.141592653589793,
124
+ 3.141592653589793,
125
+ 3.141592653589793,
126
+ 3.141592653589793
127
+ ]
128
+ }
129
+ },
130
+ "action": {
131
+ "left_arm": {
132
+ "max": [
133
+ 3.141592653589793,
134
+ 3.141592653589793,
135
+ 3.141592653589793,
136
+ 3.141592653589793,
137
+ 3.141592653589793,
138
+ 3.141592653589793,
139
+ 3.141592653589793,
140
+ 3.141592653589793
141
+ ],
142
+ "min": [
143
+ -3.141592653589793,
144
+ -3.141592653589793,
145
+ -3.141592653589793,
146
+ -3.141592653589793,
147
+ -3.141592653589793,
148
+ -3.141592653589793,
149
+ -3.141592653589793,
150
+ -3.141592653589793
151
+ ],
152
+ "mean": [
153
+ 0.0,
154
+ 0.0,
155
+ 0.0,
156
+ 0.0,
157
+ 0.0,
158
+ 0.0,
159
+ 0.0,
160
+ 0.0
161
+ ],
162
+ "std": [
163
+ 1.047197551196597,
164
+ 1.047197551196597,
165
+ 1.047197551196597,
166
+ 1.047197551196597,
167
+ 1.047197551196597,
168
+ 1.047197551196597,
169
+ 1.047197551196597,
170
+ 1.047197551196597
171
+ ],
172
+ "q01": [
173
+ -3.141592653589793,
174
+ -3.141592653589793,
175
+ -3.141592653589793,
176
+ -3.141592653589793,
177
+ -3.141592653589793,
178
+ -3.141592653589793,
179
+ -3.141592653589793,
180
+ -3.141592653589793
181
+ ],
182
+ "q99": [
183
+ 3.141592653589793,
184
+ 3.141592653589793,
185
+ 3.141592653589793,
186
+ 3.141592653589793,
187
+ 3.141592653589793,
188
+ 3.141592653589793,
189
+ 3.141592653589793,
190
+ 3.141592653589793
191
+ ]
192
+ },
193
+ "right_arm": {
194
+ "max": [
195
+ 3.141592653589793,
196
+ 3.141592653589793,
197
+ 3.141592653589793,
198
+ 3.141592653589793,
199
+ 3.141592653589793,
200
+ 3.141592653589793,
201
+ 3.141592653589793,
202
+ 3.141592653589793
203
+ ],
204
+ "min": [
205
+ -3.141592653589793,
206
+ -3.141592653589793,
207
+ -3.141592653589793,
208
+ -3.141592653589793,
209
+ -3.141592653589793,
210
+ -3.141592653589793,
211
+ -3.141592653589793,
212
+ -3.141592653589793
213
+ ],
214
+ "mean": [
215
+ 0.0,
216
+ 0.0,
217
+ 0.0,
218
+ 0.0,
219
+ 0.0,
220
+ 0.0,
221
+ 0.0,
222
+ 0.0
223
+ ],
224
+ "std": [
225
+ 1.047197551196597,
226
+ 1.047197551196597,
227
+ 1.047197551196597,
228
+ 1.047197551196597,
229
+ 1.047197551196597,
230
+ 1.047197551196597,
231
+ 1.047197551196597,
232
+ 1.047197551196597
233
+ ],
234
+ "q01": [
235
+ -3.141592653589793,
236
+ -3.141592653589793,
237
+ -3.141592653589793,
238
+ -3.141592653589793,
239
+ -3.141592653589793,
240
+ -3.141592653589793,
241
+ -3.141592653589793,
242
+ -3.141592653589793
243
+ ],
244
+ "q99": [
245
+ 3.141592653589793,
246
+ 3.141592653589793,
247
+ 3.141592653589793,
248
+ 3.141592653589793,
249
+ 3.141592653589793,
250
+ 3.141592653589793,
251
+ 3.141592653589793,
252
+ 3.141592653589793
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:c922a8cc7dbf2d082aab0b55e400ab3249c914ca1bfdeedcdbadebb9c2dcf353
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:d001d8cf415b5d7b03689b9f9b0885f491791cb1b6443fe2b23bbcc0b04c6285
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