| { | |
| "norm_stats": { | |
| "gen72_grasp_best2": { | |
| "action": { | |
| "mean": [ | |
| 79.11602783203125, | |
| 94.15535736083984, | |
| -80.4166259765625, | |
| -93.67428588867188, | |
| -3.3462841510772705, | |
| 17.82291603088379, | |
| 6.387060165405273, | |
| 78.9906997680664, | |
| -82.27678680419922, | |
| 88.60293579101562, | |
| 82.36312103271484, | |
| -95.4980239868164, | |
| 3.2222084999084473, | |
| 15.378264427185059, | |
| 1.2210661172866821, | |
| 80.26712799072266 | |
| ], | |
| "std": [ | |
| 21.024213790893555, | |
| 5.583713531494141, | |
| 10.143651008605957, | |
| 2.8190293312072754, | |
| 6.1579060554504395, | |
| 12.958017349243164, | |
| 9.206350326538086, | |
| 38.70134735107422, | |
| 24.093891143798828, | |
| 10.70143985748291, | |
| 13.960134506225586, | |
| 3.1140949726104736, | |
| 12.975412368774414, | |
| 19.39619255065918, | |
| 11.416078567504883, | |
| 38.01255416870117 | |
| ], | |
| "max": [ | |
| 112.63500213623047, | |
| 102.0, | |
| -43.02000045776367, | |
| -68.55000305175781, | |
| 20.434999465942383, | |
| 61.125, | |
| 46.845001220703125, | |
| 100.0, | |
| -18.19499969482422, | |
| 102.0, | |
| 110.38999938964844, | |
| -72.7699966430664, | |
| 71.93499755859375, | |
| 67.31999969482422, | |
| 42.23500061035156, | |
| 100.0 | |
| ], | |
| "min": [ | |
| 31.375, | |
| 66.01000213623047, | |
| -99.53500366210938, | |
| -95.75499725341797, | |
| -38.540000915527344, | |
| -22.940000534057617, | |
| -37.529998779296875, | |
| 0.0, | |
| -115.30999755859375, | |
| 14.984999656677246, | |
| 18.020000457763672, | |
| -97.47000122070312, | |
| -22.719999313354492, | |
| -23.639999389648438, | |
| -41.84000015258789, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 34.29199905395508, | |
| 78.30999755859375, | |
| -93.43000030517578, | |
| -95.44999694824219, | |
| -20.040000915527344, | |
| -3.5509999990463235, | |
| -15.819999694824219, | |
| 0.0, | |
| -109.94999694824219, | |
| 46.845001220703125, | |
| 35.15999984741211, | |
| -97.29000091552734, | |
| -15.1479998588562, | |
| -12.739999771118164, | |
| -30.791500282287597, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 105.26450119018561, | |
| 102.0, | |
| -49.8484996795654, | |
| -80.68149948120117, | |
| 8.350000381469727, | |
| 47.290000915527344, | |
| 32.16999816894531, | |
| 100.0, | |
| -30.818500328063934, | |
| 102.0, | |
| 100.80999755859375, | |
| -81.88200302124021, | |
| 52.8650016784668, | |
| 55.61800079345706, | |
| 30.233500289916996, | |
| 100.0 | |
| ], | |
| "mask": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true | |
| ] | |
| }, | |
| "proprio": { | |
| "mean": [ | |
| 79.11497497558594, | |
| 94.18975830078125, | |
| -80.38821411132812, | |
| -93.6719970703125, | |
| -3.3557398319244385, | |
| 17.77706527709961, | |
| 6.375845909118652, | |
| 78.99101257324219, | |
| -82.22480773925781, | |
| 88.610107421875, | |
| 82.32734680175781, | |
| -95.49593353271484, | |
| 3.2511658668518066, | |
| 15.379179000854492, | |
| 1.202197551727295, | |
| 80.26780700683594 | |
| ], | |
| "std": [ | |
| 20.358299255371094, | |
| 5.266684055328369, | |
| 9.759184837341309, | |
| 2.6425156593322754, | |
| 5.872856140136719, | |
| 12.372116088867188, | |
| 8.679393768310547, | |
| 38.70150375366211, | |
| 23.474021911621094, | |
| 10.264312744140625, | |
| 13.466100692749023, | |
| 2.960315227508545, | |
| 12.600417137145996, | |
| 18.766708374023438, | |
| 11.020885467529297, | |
| 38.01284408569336 | |
| ], | |
| "max": [ | |
| 108.94000244140625, | |
| 102.0199966430664, | |
| -45.0099983215332, | |
| -72.97000122070312, | |
| 14.890000343322754, | |
| 55.84000015258789, | |
| 46.47999954223633, | |
| 100.0, | |
| -21.459999084472656, | |
| 102.01000213623047, | |
| 104.38999938964844, | |
| -73.69999694824219, | |
| 62.630001068115234, | |
| 64.4000015258789, | |
| 40.790000915527344, | |
| 100.0 | |
| ], | |
| "min": [ | |
| 32.54999923706055, | |
| 73.81999969482422, | |
| -98.31999969482422, | |
| -95.58000183105469, | |
| -36.43000030517578, | |
| -16.389999389648438, | |
| -26.139999389648438, | |
| 0.0, | |
| -111.0999984741211, | |
| 28.559999465942383, | |
| 19.8700008392334, | |
| -97.37000274658203, | |
| -16.200000762939453, | |
| -18.959999084472656, | |
| -39.83000183105469, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 36.040000915527344, | |
| 79.12000274658203, | |
| -92.80000305175781, | |
| -95.37999725341797, | |
| -19.156999778747558, | |
| -0.11400000452995164, | |
| -12.917000007629394, | |
| 0.0, | |
| -109.78100128173828, | |
| 49.36499938964844, | |
| 36.233000946044925, | |
| -97.2300033569336, | |
| -14.706999969482421, | |
| -12.258000183105468, | |
| -30.653999710083006, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 102.68300018310553, | |
| 102.01000213623047, | |
| -51.226001358032214, | |
| -81.30999755859375, | |
| 8.239999771118164, | |
| 45.500998687744165, | |
| 31.277000617980963, | |
| 100.0, | |
| -31.829999351501392, | |
| 101.95999908447266, | |
| 100.08000183105469, | |
| -82.35599975585936, | |
| 51.74799919128421, | |
| 53.9569995880127, | |
| 29.15399971008302, | |
| 100.0 | |
| ] | |
| }, | |
| "num_transitions": 16131, | |
| "num_trajectories": 49 | |
| } | |
| }, | |
| "n_action_bins": 256, | |
| "vision_backbone_id": "dinosiglip-vit-so-224px", | |
| "llm_backbone_id": "llama2-7b-pure", | |
| "arch_specifier": "no-align+fused-gelu-mlp", | |
| "output_projector_states": false, | |
| "use_fused_vision_backbone": true, | |
| "timm_model_ids": [ | |
| "vit_large_patch14_reg4_dinov2.lvd142m", | |
| "vit_so400m_patch14_siglip_224" | |
| ], | |
| "timm_override_act_layers": [ | |
| null, | |
| null | |
| ], | |
| "image_sizes": [ | |
| 224, | |
| 224 | |
| ], | |
| "image_resize_strategy": "resize-naive", | |
| "hf_llm_id": "meta-llama/Llama-2-7b-hf", | |
| "llm_max_length": 2048, | |
| "pad_token_id": 32000, | |
| "pad_to_multiple_of": 64, | |
| "text_config": { | |
| "vocab_size": 32064, | |
| "max_position_embeddings": 2048, | |
| "hidden_size": 4096, | |
| "intermediate_size": 11008, | |
| "num_hidden_layers": 32, | |
| "num_attention_heads": 32, | |
| "num_key_value_heads": 32, | |
| "hidden_act": "silu", | |
| "initializer_range": 0.02, | |
| "rms_norm_eps": 1e-06, | |
| "pretraining_tp": 1, | |
| "use_cache": true, | |
| "rope_theta": 10000.0, | |
| "rope_scaling": null, | |
| "attention_bias": false, | |
| "attention_dropout": 0.0, | |
| "return_dict": true, | |
| "output_hidden_states": false, | |
| "output_attentions": false, | |
| "torchscript": false, | |
| "torch_dtype": "bfloat16", | |
| "use_bfloat16": false, | |
| "tf_legacy_loss": false, | |
| "pruned_heads": {}, | |
| "tie_word_embeddings": false, | |
| "chunk_size_feed_forward": 0, | |
| "is_encoder_decoder": false, | |
| "is_decoder": false, | |
| "cross_attention_hidden_size": null, | |
| "add_cross_attention": false, | |
| "tie_encoder_decoder": false, | |
| "max_length": 20, | |
| "min_length": 0, | |
| "do_sample": false, | |
| "early_stopping": false, | |
| "num_beams": 1, | |
| "num_beam_groups": 1, | |
| "diversity_penalty": 0.0, | |
| "temperature": 1.0, | |
| "top_k": 50, | |
| "top_p": 1.0, | |
| "typical_p": 1.0, | |
| "repetition_penalty": 1.0, | |
| "length_penalty": 1.0, | |
| "no_repeat_ngram_size": 0, | |
| "encoder_no_repeat_ngram_size": 0, | |
| "bad_words_ids": null, | |
| "num_return_sequences": 1, | |
| "output_scores": false, | |
| "return_dict_in_generate": false, | |
| "forced_bos_token_id": null, | |
| "forced_eos_token_id": null, | |
| "remove_invalid_values": false, | |
| "exponential_decay_length_penalty": null, | |
| "suppress_tokens": null, | |
| "begin_suppress_tokens": null, | |
| "architectures": null, | |
| "finetuning_task": null, | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "label2id": { | |
| "LABEL_0": 0, | |
| "LABEL_1": 1 | |
| }, | |
| "tokenizer_class": null, | |
| "prefix": null, | |
| "bos_token_id": 1, | |
| "pad_token_id": 32000, | |
| "eos_token_id": 2, | |
| "sep_token_id": null, | |
| "decoder_start_token_id": null, | |
| "task_specific_params": null, | |
| "problem_type": null, | |
| "_name_or_path": "", | |
| "model_type": "llama" | |
| }, | |
| "return_dict": true, | |
| "output_hidden_states": false, | |
| "output_attentions": false, | |
| "torchscript": false, | |
| "torch_dtype": "bfloat16", | |
| "use_bfloat16": false, | |
| "tf_legacy_loss": false, | |
| "pruned_heads": {}, | |
| "tie_word_embeddings": true, | |
| "chunk_size_feed_forward": 0, | |
| "is_encoder_decoder": false, | |
| "is_decoder": false, | |
| "cross_attention_hidden_size": null, | |
| "add_cross_attention": false, | |
| "tie_encoder_decoder": false, | |
| "max_length": 20, | |
| "min_length": 0, | |
| "do_sample": false, | |
| "early_stopping": false, | |
| "num_beams": 1, | |
| "num_beam_groups": 1, | |
| "diversity_penalty": 0.0, | |
| "temperature": 1.0, | |
| "top_k": 50, | |
| "top_p": 1.0, | |
| "typical_p": 1.0, | |
| "repetition_penalty": 1.0, | |
| "length_penalty": 1.0, | |
| "no_repeat_ngram_size": 0, | |
| "encoder_no_repeat_ngram_size": 0, | |
| "bad_words_ids": null, | |
| "num_return_sequences": 1, | |
| "output_scores": false, | |
| "return_dict_in_generate": false, | |
| "forced_bos_token_id": null, | |
| "forced_eos_token_id": null, | |
| "remove_invalid_values": false, | |
| "exponential_decay_length_penalty": null, | |
| "suppress_tokens": null, | |
| "begin_suppress_tokens": null, | |
| "architectures": [ | |
| "OpenVLAForActionPrediction" | |
| ], | |
| "finetuning_task": null, | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "label2id": { | |
| "LABEL_0": 0, | |
| "LABEL_1": 1 | |
| }, | |
| "tokenizer_class": null, | |
| "prefix": null, | |
| "bos_token_id": null, | |
| "eos_token_id": null, | |
| "sep_token_id": null, | |
| "decoder_start_token_id": null, | |
| "task_specific_params": null, | |
| "problem_type": null, | |
| "_name_or_path": "/home/guangyu/.cache/huggingface/hub/models--openvla--openvla-7b/snapshots/31f090d05236101ebfc381b61c674dd4746d4ce0", | |
| "transformers_version": "4.40.1", | |
| "auto_map": { | |
| "AutoConfig": "configuration_prismatic.OpenVLAConfig", | |
| "AutoModelForVision2Seq": "modeling_prismatic.OpenVLAForActionPrediction" | |
| }, | |
| "model_type": "openvla" | |
| } |