Hugging Face's logo

Dongkkka
/
pick_multi_obj_1201_18k

Safetensors
gr00t_n1_5
Model card Files
xet
 Community
Dongkkka commited on
Commit
7283dfb
·
verified ·
1 Parent(s): 75f3319

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
+ 0.6258881092071533,
8
+ 0.5225961208343506,
9
+ 0.4540702998638153,
10
+ -0.4083384871482849,
11
+ 1.9848512411117554,
12
+ 1.3622229099273682,
13
+ 0.32285746932029724,
14
+ 1.1980390548706055
15
+ ],
16
+ "min": [
17
+ -1.0356887578964233,
18
+ -0.00011984224693151191,
19
+ -0.8163893818855286,
20
+ -2.1820757389068604,
21
+ -0.1257864236831665,
22
+ -0.619260847568512,
23
+ -1.2150284051895142,
24
+ 0.0
25
+ ],
26
+ "mean": [
27
+ -0.030505895614624023,
28
+ 0.17493046820163727,
29
+ -0.1724156141281128,
30
+ -1.5434216260910034,
31
+ 0.41967833042144775,
32
+ 0.09581489861011505,
33
+ -0.37070271372795105,
34
+ 0.3712228238582611
35
+ ],
36
+ "std": [
37
+ 0.35358697175979614,
38
+ 0.08640537410974503,
39
+ 0.1647699922323227,
40
+ 0.2742176055908203,
41
+ 0.4536644518375397,
42
+ 0.37965625524520874,
43
+ 0.3246261775493622,
44
+ 0.39878013730049133
45
+ ],
46
+ "q01": [
47
+ -0.8253655433654785,
48
+ 0.0005007008908432905,
49
+ -0.6553141909837723,
50
+ -2.006601107120514,
51
+ -0.05368932709097862,
52
+ -0.40650489926338196,
53
+ -1.0646234941482544,
54
+ 0.01840776950120926
55
+ ],
56
+ "q99": [
57
+ 0.46977610290050514,
58
+ 0.42484736740589146,
59
+ 0.20448683202266693,
60
+ -0.6904751861095428,
61
+ 1.8422895801067352,
62
+ 1.0802250385284429,
63
+ 0.2055506557226181,
64
+ 1.1320778131484985
65
+ ]
66
+ },
67
+ "right_arm": {
68
+ "max": [
69
+ 0.6432053446769714,
70
+ 7.190534961409867e-05,
71
+ 0.37275734543800354,
72
+ -0.5527963638305664,
73
+ 0.0950828418135643,
74
+ 0.7803407907485962,
75
+ 1.1357827186584473,
76
+ 1.136679768562317
77
+ ],
78
+ "min": [
79
+ -0.9628486037254333,
80
+ -0.5433168411254883,
81
+ -0.5081910490989685,
82
+ -2.1780848503112793,
83
+ -0.8541157245635986,
84
+ -0.7917377948760986,
85
+ -0.3289906978607178,
86
+ 0.0
87
+ ],
88
+ "mean": [
89
+ 0.19008710980415344,
90
+ -0.10576711595058441,
91
+ 0.09301091730594635,
92
+ -1.633500576019287,
93
+ -0.17586009204387665,
94
+ -0.15116524696350098,
95
+ 0.17336353659629822,
96
+ 0.29084932804107666
97
+ ],
98
+ "std": [
99
+ 0.32597336173057556,
100
+ 0.09622962027788162,
101
+ 0.1411556452512741,
102
+ 0.20505863428115845,
103
+ 0.13772115111351013,
104
+ 0.3104083836078644,
105
+ 0.3759829103946686,
106
+ 0.3420809507369995
107
+ ],
108
+ "q01": [
109
+ -0.7115159922838211,
110
+ -0.43976113200187683,
111
+ -0.3370482853055,
112
+ -2.006547954082489,
113
+ -0.5956598317623139,
114
+ -0.7027443116903305,
115
+ -0.28981370240449905,
116
+ 0.02147573046386242
117
+ ],
118
+ "q99": [
119
+ 0.5825891494750977,
120
+ 0.0,
121
+ 0.32810542643070223,
122
+ -0.9048770409822463,
123
+ 0.06654839962720871,
124
+ 0.568606151342392,
125
+ 0.9971432673931123,
126
+ 1.1182719469070435
127
+ ]
128
+ }
129
+ },
130
+ "action": {
131
+ "left_arm": {
132
+ "max": [
133
+ 0.6273981332778931,
134
+ 0.5230874419212341,
135
+ 0.4555923044681549,
136
+ -0.4080388844013214,
137
+ 1.9849711656570435,
138
+ 1.3621749877929688,
139
+ 0.32213595509529114,
140
+ 1.2065826654434204
141
+ ],
142
+ "min": [
143
+ -1.0369709730148315,
144
+ -0.11504855751991272,
145
+ -0.8191457390785217,
146
+ -2.182854652404785,
147
+ -0.1257864236831665,
148
+ -0.6212621927261353,
149
+ -1.21491277217865,
150
+ -0.3212622106075287
151
+ ],
152
+ "mean": [
153
+ -0.030559606850147247,
154
+ 0.174823597073555,
155
+ -0.17283093929290771,
156
+ -1.543239712715149,
157
+ 0.4216526448726654,
158
+ 0.09620700031518936,
159
+ -0.3706417381763458,
160
+ 0.3887162208557129
161
+ ],
162
+ "std": [
163
+ 0.3538479208946228,
164
+ 0.08742091804742813,
165
+ 0.1650300770998001,
166
+ 0.27444228529930115,
167
+ 0.4572615325450897,
168
+ 0.3797238767147064,
169
+ 0.3246603012084961,
170
+ 0.44660818576812744
171
+ ],
172
+ "q01": [
173
+ -0.8252816796302795,
174
+ -0.007669903803616762,
175
+ -0.6536445593833924,
176
+ -2.0079808235168457,
177
+ -0.05368932709097862,
178
+ -0.40650489926338196,
179
+ -1.0645827054977417,
180
+ -0.08502917736768723
181
+ ],
182
+ "q99": [
183
+ 0.4724660813808441,
184
+ 0.4250814262032518,
185
+ 0.2040194422006607,
186
+ -0.6902913451194763,
187
+ 1.8532175397872934,
188
+ 1.0722525119781494,
189
+ 0.20555342733860016,
190
+ 1.2004467248916626
191
+ ]
192
+ },
193
+ "right_arm": {
194
+ "max": [
195
+ 0.6442719101905823,
196
+ 0.14419420063495636,
197
+ 0.37275734543800354,
198
+ -0.552233099937439,
199
+ 0.0951068103313446,
200
+ 0.7823302149772644,
201
+ 1.136679768562317,
202
+ 1.2909516096115112
203
+ ],
204
+ "min": [
205
+ -0.9633399248123169,
206
+ -0.5430291891098022,
207
+ -0.5092816352844238,
208
+ -2.1797866821289062,
209
+ -0.855961263179779,
210
+ -0.7930680513381958,
211
+ -0.33133983612060547,
212
+ -0.256835013628006
213
+ ],
214
+ "mean": [
215
+ 0.19033801555633545,
216
+ -0.09965736418962479,
217
+ 0.09292927384376526,
218
+ -1.633928894996643,
219
+ -0.17576472461223602,
220
+ -0.1508656144142151,
221
+ 0.17342375218868256,
222
+ 0.3023458421230316
223
+ ],
224
+ "std": [
225
+ 0.32630667090415955,
226
+ 0.1058855652809143,
227
+ 0.14127664268016815,
228
+ 0.20565293729305267,
229
+ 0.13783322274684906,
230
+ 0.3103736639022827,
231
+ 0.3760031461715698,
232
+ 0.3822594881057739
233
+ ],
234
+ "q01": [
235
+ -0.7133010625839233,
236
+ -0.44025248289108276,
237
+ -0.3374757766723633,
238
+ -2.0079808235168457,
239
+ -0.5967185497283936,
240
+ -0.7025632262229919,
241
+ -0.2899223566055298,
242
+ 0.017747534438967705
243
+ ],
244
+ "q99": [
245
+ 0.5844466686248779,
246
+ 0.13192234933376312,
247
+ 0.32827189564704895,
248
+ -0.9035146832466125,
249
+ 0.06596117466688156,
250
+ 0.5675728917121887,
251
+ 0.9970875382423401,
252
+ 1.2710098028182983
253
+ ]
254
+ }
255
+ }
256
+ },
257
+ "modalities": {
258
+ "video": {
259
+ "cam_head": {
260
+ "resolution": [
261
+ 224,
262
+ 224
263
+ ],
264
+ "channels": 3,
265
+ "fps": 10.0
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 sha256:8b91fe2c71125a077ea98496a0fe46253242ab5662a84cc4b5fbaa21f5ba614e
3
+ size 4999367032
model-00002-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8f9948be31cd0c18faa3c18a9862e383301fdef85a6fb52cdf7e4951ac48b8f0
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