Uploaded a new model: cable_harness_v3_and_v3trivialmotions_joint checkpoint-20000
Browse files- cable_harness_v3_and_v3trivialmotions_joint/checkpoint-20000/config.json +79 -0
- cable_harness_v3_and_v3trivialmotions_joint/checkpoint-20000/experiment_cfg/metadata.json +467 -0
- cable_harness_v3_and_v3trivialmotions_joint/checkpoint-20000/model.safetensors +3 -0
- cable_harness_v3_and_v3trivialmotions_joint/checkpoint-20000/optimizer.pt +3 -0
- cable_harness_v3_and_v3trivialmotions_joint/checkpoint-20000/rng_state.pth +3 -0
- cable_harness_v3_and_v3trivialmotions_joint/checkpoint-20000/scheduler.pt +3 -0
- cable_harness_v3_and_v3trivialmotions_joint/checkpoint-20000/trainer_state.json +0 -0
cable_harness_v3_and_v3trivialmotions_joint/checkpoint-20000/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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"_convert_": "object",
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"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDM",
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"config": {
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"_recursive_": false,
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"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDMConfig",
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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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"add_seperator_token": true,
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"add_view_embed": true,
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"backbone_features_projector_cfg": null,
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"diffusion_model_cfg": {
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"_target_": "gr00t.model.action_head.cross_attention_dit.DiT",
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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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"interleave_self_attention": true,
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"norm_type": "ada_norm",
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"num_attention_heads": 16,
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"num_layers": 8,
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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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"max_action_dim": 32,
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"max_num_views": 6,
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"max_state_dim": 64,
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"mm_projector_cfg": {
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"_convert_": "object",
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"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjector",
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"config": {
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"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjectorConfig",
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"hidden_size": 1024,
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"mm_hidden_size": 1024,
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"mm_projector_type": "mlp_doubledownsample"
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}
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},
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"mm_vision_select_layer": -2,
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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": 16,
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"num_timestep_buckets": 1000,
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"siglip_hidden_size": 1024,
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"siglip_model_cfg": {
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"_convert_": "object",
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"_target_": "gr00t.model.action_head.siglip.SiglipModel.from_pretrained",
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"pretrained_model_name_or_path": "google/siglip2-large-patch16-256"
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},
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"tune_vision_tower": true,
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"vl_self_attention_cfg": {
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"_target_": "gr00t.model.action_head.cross_attention_dit.SelfAttentionTransformer",
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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": 16,
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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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},
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"action_horizon": 16,
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"architectures": [
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"IDM"
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],
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"backbone_cfg": {
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"_target_": "gr00t.model.backbone.IdentityBackbone"
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},
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"compute_dtype": "bfloat16",
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| 74 |
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"hidden_size": 0,
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"model_dtype": "float32",
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"model_type": "idm",
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"torch_dtype": "float32",
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"transformers_version": "4.46.2"
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}
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cable_harness_v3_and_v3trivialmotions_joint/checkpoint-20000/experiment_cfg/metadata.json
ADDED
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| 1 |
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{
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| 2 |
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"new_embodiment": {
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"statistics": {
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"mean": [
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:bab03c93e25fba681070fac6dba362629c8c4e90d515ab1e70d08dfc2d57624f
|
| 3 |
+
size 14244
|
cable_harness_v3_and_v3trivialmotions_joint/checkpoint-20000/scheduler.pt
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:514333fcc99a00a5ac2f0aadb8529bebf896b0c8433955834346694f8797b343
|
| 3 |
+
size 1064
|
cable_harness_v3_and_v3trivialmotions_joint/checkpoint-20000/trainer_state.json
ADDED
|
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